Unmanned aerial vehicle and panoramic shooting aircraft

Abstract

The invention relates to the technical field of aircrafts, in particular to an unmanned aerial vehicle and a panoramic shooting aircraft, and the unmanned aerial vehicle is provided with a yaw axis. The unmanned aerial vehicle comprises a fuselage, a power device and a panoramic module. The fuselage comprises a fuselage body and folding arms, the folding arms are connected to the fuselage body, and the folding arms can move relative to the fuselage body to be in an unfolded state or a folded state. The power device is arranged on the folding machine arm and used for providing flight power for the unmanned aerial vehicle. The panoramic module is arranged on the machine body and comprises a first fisheye lens and a second fisheye lens, the first fisheye lens and the second fisheye lens are arranged on the two opposite sides of the machine body respectively, the field angle of the first fisheye lens is larger than 180 degrees, and the field angle of the second fisheye lens is larger than 180 degrees; the virtual connecting line of the optical center of the first fisheye lens and the optical center of the second fisheye lens forms a first axis, and the first axis intersects with the yaw axis. The size of the whole unmanned aerial vehicle is relatively small.

Description

Unmanned aerial vehicle and panoramic aerial vehicle TECHNICAL FIELD

[0001] The present application relates to the field of aerial vehicle technology, in particular to an unmanned aerial vehicle and a panoramic aerial vehicle. BACKGROUND

[0002] At present, in order to shoot a bird's-eye view of a panoramic view, an omnidirectional camera is usually arranged at the bottom and the top of the unmanned aerial vehicle to shoot panoramic pictures. Since the view angle of the omnidirectional camera is large, other structures of the unmanned aerial vehicle are likely to enter the field of view of the omnidirectional camera during shooting, which affects the quality of panoramic picture shooting. Therefore, in order to enable other structures of the unmanned aerial vehicle to be located outside the field of view of the omnidirectional camera during shooting, the top omnidirectional camera and the bottom omnidirectional camera are generally arranged to protrude from the fuselage of the unmanned aerial vehicle, so as to increase the fusion angle of splicing. Although the arrangement of the protruding camera can achieve a better field of view, it increases the splicing radius between the field of view of the top omnidirectional camera and the field of view of the bottom omnidirectional camera, and increases the volume of the unmanned aerial vehicle.

[0003] SUMMARY

[0004] The present application provides an unmanned aerial vehicle and a panoramic aerial vehicle.

[0005] In a first aspect, the present application provides an unmanned aerial vehicle, the unmanned aerial vehicle having a yaw axis, the unmanned aerial vehicle comprising a fuselage, a power device and a panoramic module. The fuselage comprises a body and a folding arm, the folding arm being connected to the body and being movable relative to the body to assume an unfolded state or a folded state. The power device is arranged on the folding arm, and is used to provide power for flight of the unmanned aerial vehicle. The panoramic module is arranged on the fuselage, and comprises a first omnidirectional camera and a second omnidirectional camera, the first omnidirectional camera and the second omnidirectional camera being arranged on opposite sides of the fuselage respectively, the field of view angle of the first omnidirectional camera being greater than 180°, and the field of view angle of the second omnidirectional camera being greater than 180°; a virtual connection line of the optical center of the first omnidirectional camera and the optical center of the second omnidirectional camera forms a first axis, and the first axis intersects the yaw axis.

[0006] In a second aspect, the present application provides a panoramic aerial vehicle. The unmanned aerial vehicle has a yaw axis. The panoramic aerial vehicle comprises a body, a power device, a support and an image acquisition device. The power device is arranged on the body and is configured to provide power for the flight of the panoramic aerial vehicle. The support is connected to the body. The image acquisition device comprises a panoramic module and a binocular obstacle avoidance module. The panoramic module and the binocular obstacle avoidance module are arranged on the support. The panoramic module comprises a first fisheye lens and a second fisheye lens. The first fisheye lens and the second fisheye lens are respectively located on two sides of the body which are away from each other. The field of view of the first fisheye lens and the field of view of the second fisheye lens overlap to obtain a panoramic image. The binocular obstacle avoidance module comprises a first front camera and a second front camera. The first front camera and the second front camera are arranged on the support. The first front camera and the second front camera are arranged along the yaw axis.

[0007] In a third aspect, the present application provides an unmanned aerial vehicle. The unmanned aerial vehicle comprises a body, a power device, a support and a panoramic module. The power device is arranged on the body and is configured to provide power for the flight of the unmanned aerial vehicle. The support is connected to the body. The panoramic module comprises a first fisheye lens and a second fisheye lens. The first fisheye lens and the second fisheye lens are respectively connected to the support and are connected to the body through the support. A virtual line connecting the optical center of the first fisheye lens and the optical center of the second fisheye lens forms a first axis. The first axis intersects the yaw axis. BRIEF DESCRIPTION OF DRAWINGS

[0008] In order to more clearly illustrate the technical solutions of the present application, the following will briefly introduce the drawings needed in the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0009] Fig. 1 is a schematic diagram of the simple structure of the unmanned aerial vehicle according to an embodiment of the present application.

[0010] Fig. 2 is a schematic diagram of the simple structure of the unmanned aerial vehicle shown in Fig. 1.

[0011] Fig. 3 is a schematic diagram of the overall structure of the unmanned aerial vehicle shown in Fig. 1.

[0012] Fig. 4 is a schematic diagram of the structure of the unmanned aerial vehicle shown in Fig. 3 in a storage state.

[0013] Fig. 5 is a schematic diagram of the reference plane and the support plane of the unmanned aerial vehicle shown in Fig. 3 in a hovering state.

[0014] Fig. 6 is a schematic diagram of the reference plane and the support plane of the unmanned aerial vehicle shown in Fig. 3 in a standby state.

[0015] Fig. 7 is a simplified diagram of a reference plane of the UAV shown in Fig. 3.

[0016] Fig. 8 is a simplified diagram of a support plane of the UAV shown in Fig. 3.

[0017] Fig. 9 is an exploded structural diagram of the interior of the fuselage of the UAV shown in Fig. 3.

[0018] Fig. 10 is an exploded structural diagram of a partial structure of the UAV shown in Fig. 9.

[0019] Fig. 11 is a diagram of the UAV shown in Fig. 3 for indicating a first plane and a horizontal plane.

[0020] Fig. 12 is an exploded structural diagram of a lower shell and a second obstacle avoidance module of the UAV shown in Fig. 3.

[0021] Fig. 13 is a structural diagram of the exploded structure of the lower shell and the second obstacle avoidance module shown in Fig. 12 from another perspective.

[0022] Fig. 14 is a simplified diagram of one embodiment of a light supplement lamp of the UAV shown in Fig. 12.

[0023] Fig. 15 is a simplified diagram of another embodiment of a light supplement lamp of the UAV shown in Fig. 12.

[0024] Fig. 16 is a structural diagram of one embodiment of a support portion of the UAV shown in Fig. 3.

[0025] Fig. 17 is a structural diagram of another embodiment of a support portion of the UAV shown in Fig. 3.

[0026] Fig. 18 is a structural diagram of the overall structure of the UAV shown in Fig. 3 from another perspective.

[0027] Fig. 19 is a diagram of the UAV shown in Fig. 3 for characterizing a center of tension.

[0028] Fig. 20 is a structural diagram of a support and an image display device of the UAV shown in Fig. 3.

[0029] Fig. 21 is an exploded structural diagram of the support shown in Fig. 20.

[0030] Fig. 22 is a diagram of a field of view of the image display device of the UAV shown in Fig. 3.

[0031] Fig. 23 is a simplified diagram of the field of view of the image display device shown in Fig. 22.

[0032] Fig. 24 is a structural diagram of the UAV shown in Fig. 3 from another perspective in a stowed state.

[0033] Fig. 25 is a schematic diagram of the overall structure of a panoramic photographing aerial vehicle according to an embodiment of the present application.

[0034] Fig. 26 is a schematic diagram of the overall structure of an unmanned aerial vehicle according to an embodiment of the present application.

[0035] Label description: 100, unmanned aerial vehicle; 10, fuselage; 101, nose end; 103, tail end; 12, body; 121, upper shell; 123, middle frame; 1232, main shell part; 1233, second shock absorbing mounting hole; 1234, second shock absorbing mounting part; 1235, support shell part; 124, containing space; 125, lower shell; 1251, first let go hole; 1252, second positioning part; 1253, positioning column; 1254, second let go hole; 1255, first protrusion; 1256, third let go hole; 1257, second protrusion; 1258, third protrusion; 13, folding landing gear; 132, landing gear driving mechanism; 134, landing gear; 1341, connecting end; 1343, free end; 14, support part; 141, movable support part; 143, fixed support part; 15, folding arm; 152, arm driving mechanism; 154, arm; 1541, fourth protrusion; 1542, left front arm; 1544, right front arm; 1546, left rear arm; 1548, right rear arm; 16, movable piece; 17, shock absorbing assembly; 172, first shock absorbing ball; 18, second obstacle avoidance module; 181, mounting base; 1812, first positioning part; 1813, positioning hole; 1814, buffer gap; 1815, let go gap; 1816, light supplement mounting hole; 183, obstacle avoidance module; 1832, first lower camera; 1834, second lower camera; 185, distance measuring module; 1852, transmitter; 1854, receiver; 1856, second circuit board; 187, buffer piece; 20, support; 21, mounting body; 211, first mounting hole; 2121, heat conduction part; 2123, heat dissipation fin; 2141, lens mounting part; 2143, shock absorbing connecting part; 23, shock absorbing piece; 232, second shock absorbing ball; 25, connecting frame; 251, second mounting hole; 252, mounting seat; 2521, main mounting plate; 2523, side plate; 254, mounting part; 256, heat dissipation gap; 27, protective shell; 29, front shell; 30, power device; 32, driving piece; 34, propeller; 342, left front rotor; 344, right front rotor; 346, left rear rotor; 348, right rear rotor; 40, indicator light; 41, first light emitting area; 43, second light emitting area; 50, image acquisition device; 52, panoramic module; 521, first fisheye lens; 5212, first convex lens; 523, second fisheye lens; 5232, second convex lens; 54, first obstacle avoidance module; 541, first front camera; 543, second front camera; 60, sensor module; 61, first circuit board; 612, first shock absorbing mounting part; 613, first shock absorbing mounting hole; 62, IMU; 63, GPS; 70, electronic speed controller; 80, battery; 81, reflective film; 90, mainboard; 110, light supplement lamp; 1101, light supplement mounting hole; 1103, lens; 1104, light entrance surface; 1105, light exit surface; 120, magnetometer;200, panoramic aerial vehicle; 10, fuselage; 50, image acquisition device; 30, power device; 52, panoramic module; 521, first fisheye lens; 523, second fisheye lens; 20, support; 54, binocular obstacle avoidance module; 541, first front camera; 543, second front camera; 300, panoramic aerial vehicle; 10, fuselage; 52, panoramic module; 521, first fisheye lens; 523, second fisheye lens; 30, power device; 20, support. DETAILED DESCRIPTION

[0036] In order to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0037] As some terms are used in the description and claims to refer to specific components, those skilled in the art should understand that hardware manufacturers may use different names to refer to the same components. The description and claims do not distinguish components by name difference, but by functional difference. As mentioned throughout the description and claims, "including" is an open term, which should be interpreted as "including but not limited to"; "approximately" means that those skilled in the art can solve technical problems within a certain error range and basically achieve technical effects.

[0038] Referring to FIG. 1, the present application provides an unmanned aerial vehicle 100, which can realize panoramic shooting while protecting the lens. The present specification does not limit the specific type of the unmanned aerial vehicle 100. For example, the unmanned aerial vehicle 100 can be a fixed-wing unmanned aerial vehicle, a vertical take-off and landing unmanned aerial vehicle, an unmanned airship, a multi-rotor unmanned aerial vehicle, an unmanned parafoil, etc. In the present embodiment, the unmanned aerial vehicle 100 is a multi-rotor unmanned aerial vehicle.

[0039] Please refer to FIG. 1, FIG. 3 and FIG. 4, in the embodiment, the UAV 100 can include a fuselage 10, a power device 30 and an image acquisition device 50. The fuselage 10 can include a body 12 and at least three support portions 14 spaced apart from each other and connected to the body 12 respectively. At least one of the at least three support portions 14 is a movable support portion 141, which can move relative to the body 12 to be in a first position or a second position. The power device 30 is connected to the body 12, which is used to provide power for the UAV 100 to fly, so that the UAV 100 has a flight state and a parking state. The image acquisition device 50 is arranged on the body 12, and the image acquisition device 50 can include a first fisheye lens 521 and a second fisheye lens 523. The first fisheye lens 521 and the second fisheye lens 523 are arranged on the two sides of the body 12 respectively. In the flight state, the second fisheye lens 523 is located on the side of the body 12 facing downward. It should be noted that in the specification of the present application, the terms "up", "down" and the like related to the UAV 100 should be understood in the orientation of the UAV 100 itself. For example, when the UAV 100 is in the flight state (including the forward flight state or the hovering state), the UAV 100 has a nose and a tail, and the direction of forward flight is the front of the nose, which is referred to as "front" in the specification. In the specification, "down" refers to the side facing downward in the flight state of the UAV 100, for example, when the UAV 100 is flying in the air above the land, the "side facing downward" refers to the side facing the ground, or for example, when the UAV 100 is flying in the air above the water, the "side facing downward" refers to the side facing the water surface. Similarly, based on the above-mentioned orientation of "front", the terms "left" and "right" should be understood as the left and right sides of the UAV 100.

[0040] Specifically, in the embodiment, the second fisheye lens 523 is located on the side of the body 12 facing the ground. Please refer to FIG. 5, FIG. 6, FIG. 7 and FIG. 8, when the movable support portion 141 is in the first position, the at least three support portions 14 jointly define a reference plane a, which is higher than the lowest point of the second fisheye lens 523 (as shown in FIG. 7). Among them, the "lowest point of the second fisheye lens 523" is understood as the lowest part of the spatial position of the second fisheye lens 523 in this state, for example, the second fisheye lens 523 has a convex lens, and the highest point of the convex surface of the convex lens can be understood as the lowest point of the second fisheye lens 523.

[0041] When the movable support portion 141 is in the second position, the at least three support portions 14 jointly define a support plane b, which is located on the side of the second fisheye lens 523 away from the first fisheye lens 521 (as shown in FIG. 8).

[0042] The flight state of the UAV 100 refers to a state in which the UAV 100 is suspended under the action of the power device 30, and can include a forward flight state, a hovering state (as shown in FIG. 5), and the like. The parking state of the UAV 100 can be understood as a state in which the UAV 100 is at rest and placed on a plane, and can include a state of parking before takeoff, a state of landing before being received (as shown in FIG. 6), a state of being received, and the like. When the movable support part 141 is located at the first position, the UAV 100 can be in a flight state or a parking state. When the movable support part 141 is located at the second position, the UAV 100 can be in a flight state or a parking state. As an example, the UAV 100 in the parking state can be placed on a designated table surface, such as the ground or a table top, and at this time, when the movable support part 141 is located at the second position, the support plane b can substantially coincide with the flat ground or table top, and at this time, the at least three support parts 14 collectively support the UAV 100. The support plane b is located on the side away from the first fisheye lens 521 of the second fisheye lens 523, so that the support plane b is located below the second fisheye lens 523.

[0043] Therefore, in the present embodiment, when the UAV 100 is in use, the power device 30 provides power for the UAV 100 to fly, so that the UAV 100 is in a flight state. The first fisheye lens 521 and the second fisheye lens 523 are respectively arranged on both sides of the body 12, i.e., at the top and the bottom of the body 12, and are used to acquire panoramic images. When the UAV 100 is in the flight state, the movable support part 141 can be located at the first position, and at this time, the at least three support parts 14 collectively define the reference plane a, which is higher than the lowest point of the second fisheye lens 523, thereby reducing the possibility that the three support parts 14 enter the field of view of the second fisheye lens 523. When the UAV 100 is switched to the parking state, when the movable support part 141 is located at the second position, the at least three support parts 14 collectively define the support plane b, which is located on the side away from the first fisheye lens 521 of the second fisheye lens 523. When the UAV 100 is placed on a placement plane, when the movable support part 141 is located at the second position, the support plane b defined by the at least three support parts 14 can coincide with the placement plane, and the second fisheye lens 523 is located above the support plane b, i.e., the second fisheye lens 523 will not be in contact with the placement plane and will not collide to be damaged.

[0044] Therefore, in the unmanned aerial vehicle 100 provided in the embodiment, the movable support part 141 can obtain panoramic images in the flight state when the movable support part 141 is located at the first position, and the second fisheye lens 523 can be protected when the unmanned aerial vehicle 100 is located on the placement plane when the movable support part 141 is located at the second position, so that the possibility of damage of the second fisheye lens 523 caused by contact and collision with the placement plane is reduced, and the service life of the second fisheye lens 523 is improved.

[0045] Please refer to FIG. 4 and FIG. 9 simultaneously, in the embodiment, the body 12 can include an upper shell 121, a middle frame 123 and a lower shell 125, the middle frame 123 is connected between the upper shell 121 and the lower shell 125, the upper shell 121, the middle frame 123 and the lower shell 125 jointly define a mounting space for mounting internal elements of the unmanned aerial vehicle 100.

[0046] For the convenience of understanding, the unmanned aerial vehicle 100 in the hovering state is taken as an example for description, the upper shell 121 is located on the side of the unmanned aerial vehicle 100 facing upward, and the lower shell 125 is located on the side of the unmanned aerial vehicle 100 facing downward. Among them, the indications of "up", "down" and the like are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the application to simplify the description, but do not indicate or imply that the device or element referred to must have a specific orientation.

[0047] The unmanned aerial vehicle 100 further includes a sensor module 60, the sensor module 60 is connected to the middle frame 123, and the sensor module 60 at least includes an inertial measurement unit (IMU) 62 and a global positioning system (GPS) 63. The IMU 62 determines the spatial attitude of an object by measuring acceleration and angular velocity, and the GPS 63 determines the position information of the object by receiving satellite signals.

[0048] In the embodiment, the sensor module 60 can further include a first circuit board 61, the IMU 62 and the GPS 63 are arranged on the first circuit board 61, and the first circuit board 61 is mounted on the middle frame 123. The IMU 62 and the GPS 63 can be connected to the first circuit board 61 by welding. The IMU 62 and the GPS 63 share one first circuit board 61, which is simple in structure and can make the overall weight of the UAV relatively lighter. The first circuit board 61 can be directly connected to the middle frame 123 or indirectly connected to the middle frame 123 through other structures. In the embodiment, the first circuit board 61 is provided with a first shock-absorbing mounting portion 612, and the middle frame 123 is provided with a second shock-absorbing mounting portion 1234. The fuselage 10 further includes a shock-absorbing assembly 17, one side of the shock-absorbing assembly 17 is arranged on the first shock-absorbing mounting portion 612, and the other side of the shock-absorbing assembly 17 is arranged on the second shock-absorbing mounting portion 1234. The GPS 63 and the IMU 62 are modularly arranged on the first circuit board 61, and the first circuit board 61 is connected to the middle frame 123 through the shock-absorbing assembly 17. On the one hand, the mounting stability of the sensor module 60 is improved, the influence of the vibration of other structures of the UAV 100 on the sensor module 60 is reduced, and the accuracy of the sensor module 60 in measuring attitude and position information is improved. On the other hand, an additional dedicated bracket for mounting the GPS / IMU is not needed, so that the volume and weight of the whole machine are reduced, and the installation steps are simplified. Moreover, the IMU 62 and the GPS 63 are arranged on the first circuit board 61, and the antenna of the GPS 63 can be used as a counterweight for the IMU 62 to reduce the vibration of the IMU 62.

[0049] The specific structure of the shock-absorbing assembly 17 is not limited in the specification. For example, the shock-absorbing assembly 17 can include at least one of a shock-absorbing ball, a shock-absorbing washer, a shock-absorbing sleeve, etc. In the embodiment, the shock-absorbing assembly 17 includes a plurality of first shock-absorbing balls 172. Please refer to FIG. 10, the first shock-absorbing mounting portion 612 is provided with a plurality of first shock-absorbing mounting holes 613, and the plurality of first shock-absorbing balls 172 and the plurality of first shock-absorbing mounting holes 613 are arranged one by one. The second shock-absorbing mounting portion 1234 is provided with a plurality of second shock-absorbing mounting holes 1233, and the plurality of first shock-absorbing balls 172 and the plurality of second shock-absorbing mounting holes 1233 are arranged one by one. The two sides of each first shock-absorbing ball 172 are respectively embedded in the corresponding first shock-absorbing mounting hole 613 and the corresponding second shock-absorbing mounting hole 1233, and the first circuit board 61 and the middle frame 123 are connected, so that the first circuit board 61 can be connected to the middle frame 123 through the first shock-absorbing ball 172. The first shock-absorbing ball 172 is directly connected to the middle frame 123, without the need to additionally add a separate bracket, which reduces the overall weight of the UAV 100 and improves the connection structure strength of the fuselage 10.

[0050] In the embodiment, the first shock-absorbing mounting portion 612 is a plate body at the edge of the first circuit board 61, and a plurality of first shock-absorbing mounting holes 613 are arranged at the edge of the first circuit board 61 and are sequentially and spaced apart along the circumferential direction of the first circuit board 61. As an example, the number of the first shock-absorbing mounting holes 613 is four, and the four first shock-absorbing mounting holes 613 are respectively arranged at the four corners of the first circuit board 61, and the first shock-absorbing mounting holes 613 penetrate the first circuit board 61 along the direction of the yaw axis Y of the UAV 100.

[0051] The middle frame 123 can include a main shell portion 1232 and the second shock-absorbing mounting portion 1234 described above, the main shell portion 1232 serves as one of the frame structures of the UAV 100, and the second shock-absorbing mounting portion 1234 is connected to the inner wall of the middle frame 123. The second shock-absorbing mounting portion 1234 is substantially in the shape of a beam, and the number of the second shock-absorbing mounting portions 1234 is multiple, and the multiple second shock-absorbing mounting portions 1234 are staggered arranged in the main shell portion 1232 and located on the side of the sensor module 60 away from the upper shell 121 to support the sensor module 60. The second shock-absorbing mounting hole 1233 is arranged in the second shock-absorbing mounting portion 1234 and penetrates the second shock-absorbing mounting portion 1234 along the direction of the yaw axis Y of the UAV 100. As an example, the number of the second shock-absorbing mounting holes 1233 is four, and the four second shock-absorbing mounting holes 1233 are respectively arranged one by one corresponding to the four first shock-absorbing mounting holes 613. The two sides of the first shock-absorbing ball 172 are respectively arranged in the first shock-absorbing mounting hole 613 and the second shock-absorbing mounting hole 1233.

[0052] In the embodiment, the UAV 100 can further include an electronic speed controller 70, the electronic speed controller 70 is connected to the middle frame 123, and the electronic speed controller 70 and the sensor module 60 are spaced apart along the direction of the roll axis R of the UAV 100. The sensor module 60 is located at the middle of the fuselage 10, and the electronic speed controller 70 is close to the tail end 103. The electronic speed controller 70 is used to finely adjust the input voltage of the power device 30, so as to control the rotation speed and thrust of the propeller of the power device 30.

[0053] The unmanned aerial vehicle 100 further comprises a battery 80, which is arranged in the middle frame 123 and connected to the middle frame 123. When the unmanned aerial vehicle 100 is in a flight state, the battery 80 is located below the sensor module 60, and the battery 60 is electrically connected to the sensor module 60. Specifically, the battery 60 is electrically connected to the electronic speed controller 70 and supplies power to the first circuit board 61 through the electronic speed controller 70. The battery 80 is arranged on the side of the second shock-absorbing mounting portion 1234 away from the sensor module 60, and the second shock-absorbing mounting portion 1234 can well constrain the battery 80 and support the sensor module 60. Specifically, in this embodiment, a battery compartment can be arranged in the middle frame 123 for mounting the battery 80, and the battery compartment is located below the second shock-absorbing mounting portion 1234. In order to facilitate maintenance and replacement, in this embodiment, the battery 80 is detachably arranged in the battery compartment. For example, the battery 80 can be connected to the middle frame 123 through a buckle structure. Further, the middle frame 123 near the tail end 103 can be provided with a movable cover plate or a mounting port, so as to facilitate the disassembly and assembly of the battery 80 from the movable cover plate or the mounting port.

[0054] The side of the battery 80 facing the sensor module 60 is provided with a reflecting film 81 for reflecting electromagnetic signals, and the reflecting surface of the reflecting film 81 is oppositely spaced apart from the GPS 63. The reflecting film 81 is used for reflecting electromagnetic signals to improve the signal strength of the GPS 63, thereby improving the positioning accuracy. In this embodiment, the reflecting film 81 can be a metal dielectric reflecting film. For example, the reflecting film 81 can include a metal film and a dielectric layer, and the dielectric layer is arranged on the outside of the metal film (i.e., the side of the metal film away from the battery 80). The metal film can be made of at least one of aluminum, gold, silver, and copper, and the dielectric layer can be made of at least one of silicon monoxide, magnesium fluoride, silicon dioxide, and aluminum trioxide.

[0055] The pitch axis P and the roll axis R of the UAV 100 jointly define a first plane c. In the embodiment shown in FIG. 11, the UAV 100 is in a hovering state, and the first plane c is parallel to a horizontal plane S. The battery 80 has a length direction E1, which is either parallel to or intersects the first plane c. For example, the battery 80 is substantially prismatic, such as a cuboid, and the length direction E1 can be understood as the extension direction of the straight line on which the longer side (longer edge) of the battery 80 lies. The fuselage 10 has a nose end 101 (shown in FIG. 3) at the front end in the forward flight direction E2 of the UAV 100 and a tail end 103 at the rear end. In the hovering state, the nose end 101 of the UAV 100 is slightly tilted upward, and the battery 80 is also slightly tilted upward along with the UAV 100. When the UAV 100 is in forward flight, the fuselage 10 tends to be tilted forward, and the nose end 101 of the fuselage 10 is slightly tilted downward. The battery 80 is arranged to be tilted in the normal state (e.g., tilted upward in the hovering state), so that when the fuselage 10 is tilted forward, the battery 80 changes its position relative to the horizontal plane S along with the fuselage 10. At this time, the battery 80 can be considered to be arranged to be relatively flat (e.g., the length direction E1 is arranged along the horizontal plane S, e.g., parallel to the horizontal plane S), so that the overall fuselage 10 or the overall battery 80 occupies a relatively small space in the vertical direction, thereby reducing the possibility that the battery 80 falls into the field of view of the image acquisition device 50 in the forward flight state.

[0056] In some embodiments, the length direction E1 intersects the first plane c, and the included angle between the length direction E1 and the first plane c falls within any one of the following angle ranges: [0°, 3°], [3°, 6°], [6°, 10°], [10°, 20°], [20°, 35°]. For example, the second included angle B can be 1°, 2°, 3°, 4°, 5°, 6°, 7°, 8°, 9°, 10°, 15°, 20°, 23°, 35°, etc. As an example, when the UAV 100 is in a hovering state, the first plane c, the horizontal plane S, and the length direction E1 are constructed based on the same specified point, and the length direction E1 is relatively close to the side in front of the nose and is above the horizontal plane S, so that the battery 80 is tilted upward. It should be understood that when the above-mentioned planes and directions are constructed, the first plane c, the horizontal plane S, and the length direction E1 all pass through the specified point, which can be a virtual point or based on a specific physical structure on the UAV 100 (e.g., the specified point is a vertex of the battery 80).

[0057] Please refer to FIG. 9 and FIG. 11 again, in the embodiment, the unmanned aerial vehicle 100 further comprises a mainboard 90, the mainboard 90 is connected to the middle frame 123 and located at the side of the battery 80 away from the sensor module 60, and the mainboard 90 is electrically connected to the battery 80. When the unmanned aerial vehicle 100 is in the flight state, the mainboard 90, the battery 80 and the sensor module 60 are arranged in the fuselage 10 from bottom to top in turn. In the fuselage 10 of the unmanned aerial vehicle 100, the sensor module 60, the battery 80 and the mainboard 90 are stacked in turn, which improves the compactness of the internal structure and further reduces the overall size of the machine.

[0058] In some embodiments, the image processing system, the flight control system and the image transmission system of the unmanned aerial vehicle 100 can be arranged on the mainboard 90. The plane on which the mainboard 90 is located intersects the first face c. For example, the mainboard 90 is generally rectangular plate-shaped, and the plane on which the mainboard 90 is located can be understood as the plane on which the larger face of the mainboard 90 is located. The angle between the plane on which the mainboard 90 is located and the first face c falls within any one of the following angle ranges: (0°, 3°], [3°, 6°], [6°, 10°], [10°, 20°], [20°, 35°]. For example, the angle between the plane on which the mainboard 90 is located and the first face c can be 1°, 2°, 3°, 4°, 5°, 6°, 7°, 8°, 9°, 10°, 15°, 20°, 23°, 35°, etc. As an example, when the unmanned aerial vehicle 100 is in the hovering state, the first face c, the horizontal plane S and the plane on which the mainboard 90 is located are constructed based on the same specified point, the plane on which the mainboard 90 is located is relatively close to the side of the front of the nose and is located above the horizontal plane S, so that the mainboard 90 is in an upward state. It should be understood that when the above-mentioned faces and directions are constructed, the above-mentioned first face c, the horizontal plane S and the plane on which the mainboard 90 is located all pass through the specified point, and the specified point can be a virtual point or based on a specific physical structure on the unmanned aerial vehicle 100 (for example, the specified point is a vertex of the mainboard 90).

[0059] Therefore, in some embodiments of the present application, the mainboard 90, the battery 80 and the sensor module 60 are all arranged in an inclined manner, the mainboard 90 and the battery 80 are substantially parallel to each other, and the requirement that the unmanned aerial vehicle 100 does not fall into the field of view of the first fisheye lens 521 and the second fisheye lens 523 can be met with a smaller volume, thereby reducing the overall volume of the unmanned aerial vehicle 100.

[0060] Please refer to FIG. 12 and FIG. 13 simultaneously, in the embodiment, the unmanned aerial vehicle 100 can further comprise a second obstacle avoidance module 18, the second obstacle avoidance module 18 is connected to the fuselage 10 and is used for identifying the environment and avoiding obstacles. When the unmanned aerial vehicle 100 is in the hovering state, the second obstacle avoidance module 18 is arranged on the side of the fuselage 10 facing downward.

[0061] The second obstacle avoidance module 18 can include a mounting base 181, an obstacle avoidance module 183, and a distance measurement (Time of Flight, TOF) module 185. The mounting base 181 is connected to the fuselage 10, and the obstacle avoidance module 183 and the distance measurement module 185 are both arranged on the mounting base 181. The obstacle avoidance module 183 and the distance measurement module 185 share one mounting base 181, which simplifies the mounting structure and reduces the weight of the entire unmanned aerial vehicle 100.

[0062] In this embodiment, the second obstacle avoidance module 18 is arranged in the lower shell 125, and the mounting base 181 is connected to the lower shell 125. The mounting base 181 is provided with a first positioning portion 1812, and the fuselage 10 is provided with a second positioning portion 1252, which is limited in the first positioning portion 1812. The mounting base 181 is generally plate-shaped, and the second positioning portion 1252 is arranged on the lower shell 125. This specification does not limit the specific structure of the first positioning portion 1812 and the second positioning portion 1252. For example, the first positioning portion 1812 can include positioning holes, positioning slots, and the second positioning portion 1252 can include positioning posts, positioning pins, etc. corresponding to the positioning holes and the positioning slots. In this embodiment, one of the first positioning portion 1812 and the second positioning portion 1252 is a positioning hole 1813 arranged on the mounting base 181, and the other is a positioning post 1253 protruding from the fuselage 10, which is inserted into the positioning hole 1813.

[0063] When the first positioning portion 1812 is a positioning hole 1813 arranged on the mounting base 181, the first positioning portion 1812 generally penetrates the mounting base 181 along the yaw axis Y. The first positioning portion 1812 is provided in a plurality of numbers, and the plurality of first positioning portions 1812 are arranged in sequence along the circumferential direction of the mounting base 181. The second positioning portion 1252 is a positioning post 1253 integrally formed (for example, by injection molding) on the lower shell 125, which protrudes relative to the inner wall of the lower shell 125. When the mounting base 181 is mounted on the lower shell 125, the second positioning portion 1252 is embedded in the first positioning portion 1812.

[0064] In the embodiment, the second obstacle avoidance module 18 further comprises a buffer 187, which is arranged between the mounting base 181 and the lower shell 125 to achieve the effect of shock absorption for the second obstacle avoidance module 18 on the mounting base 181. As an example, when the positioning column 1253 is inserted into the positioning hole 1813, there is a buffer gap 1814 between the positioning column 1253 and the hole wall of the positioning hole 1813, and the buffer 187 is sleeved on the positioning column 1253 and located in the buffer gap 1814 to buffer the vibration of the lower shell 125 during the flight of the unmanned aerial vehicle 100. In some embodiments, the hole wall of the positioning hole 1813 is provided with a relief gap 1815, the first positioning portion 1812 is substantially in the form of an open ring, and the relief gap 1815 is connected to the buffer gap 1814 to expose the side wall of the buffer 187. The buffer 187 achieves a flexible connection between the mounting base 181 and the lower shell 125. The influence of the vibration of the lower shell 125 on the second obstacle avoidance module 18 during the flight of the unmanned aerial vehicle 100 is reduced.

[0065] Therefore, in the embodiment, the inner diameter of the positioning hole 1813 is greater than the outer diameter of the positioning column 1253, and when the positioning column 1253 is embedded in the positioning hole 1813, there is the above-mentioned buffer gap 1814 between the inner wall of the positioning hole 1813 and the outer wall of the positioning column 1253, and the centers of the positioning hole 1813 and the positioning column 1253 are substantially collinear, so that the buffer gap 1814 is substantially annular. Further, the relief gap 1815 is provided on the mounting base 181 and penetrates the mounting base 181 along the radial direction of the mounting hole 1813, and the buffer gap 1814 is in the form of a "C". In the embodiment, the buffer 187 comprises a buffer sleeve, which is arranged on the positioning column 1253 and located in the buffer gap 1814, and at least part of the side wall of the buffer 187 is exposed through the relief gap 1815. If the lower shell 125 vibrates, the vibration value is conducted to the mounting base 181 through the positioning column 1253, the buffer 187 buffers the force conducted by the positioning column 1253, reduces the influence on the second obstacle avoidance module 18, and the relief gap 1815 can provide space for the deformation of the buffer 187 during the buffering process, thereby improving the buffering capacity of the buffer 187.

[0066] Further, the elastic modulus of the buffer 187 is lower than that of the mounting base 181, and the buffer 187 is fixedly connected to the mounting base 181 by an integral molding process, which can include any one of double-shot molding, insert molding, or injection molding. The buffer 187 is integrally molded on the mounting base 181, which improves the convenience of assembly and reduces the weight of the parts. In the embodiment, the mounting base 181 can be a metal base or a plastic base.

[0067] In the present embodiment, the obstacle avoidance module 183 comprises a first lower camera 1832 and a second lower camera 1834, which are arranged in a spaced-apart manner along the direction of the roll axis R of the UAV 100 on the side of the mounting base 181 facing the lower shell 125. It should be understood that the two elements described in the present specification as being arranged in a spaced-apart manner along the direction of the roll axis R should be understood in a broad sense that there is a spacing between the two elements in the direction of the roll axis R, rather than being strictly limited to the two elements being arranged in a linear manner along the direction of the roll axis R. For example, in some embodiments, the arrangement direction of the first lower camera 1832 and the second lower camera 1834 intersects the roll axis R, and the included angle between the arrangement direction of the first lower camera 1832 and the second lower camera 1834 and the roll axis R falls within any one of the following angle ranges: (0°, 3°], [3°, 6°], [6°, 10°], [10°, 20°], [20°, 35°]. For example, the included angle between the arrangement direction of the first lower camera 1832 and the second lower camera 1834 and the roll axis R can be 1°, 2°, 3°, 4°, 5°, 6°, 7°, 8°, 9°, 10°, 15°, 20°, 23°, 35°, etc.

[0068] The optical axis of the first lower camera 1832 and / or the optical axis of the second lower camera 1834 is substantially parallel to the yaw axis Y. In order to facilitate the photographing of the first lower camera 1832 and the second lower camera 1834, in the present embodiment, a first accommodation hole 1251 is formed on the lower shell 125, which penetrates the lower shell 125. The number of the first accommodation holes 1251 is two, and the two first accommodation holes 1251 are arranged in a substantially roll axis R direction and correspond to the positions of the first lower camera 1832 and the second lower camera 1834, respectively. The first lower camera 1832 and the second lower camera 1834 perform photographing through the two first accommodation holes 1251, respectively.

[0069] Please refer to FIG. 13, FIG. 14 and FIG. 15, the unmanned aerial vehicle 100 can further comprise a fill light 110, which can be arranged on the downward side of the fuselage 10 to supplement light in the shooting scene and improve the shooting effect. In the embodiment, the fill light 110 is arranged on the fuselage 10 between the first lower camera 1832 and the second lower camera 1834, and the light spot of the fill light 110 can cover the field of view of the obstacle avoidance module 183, thereby improving the obstacle avoidance accuracy of the obstacle avoidance module 183. The fuselage 10 can be provided with a fill light mounting hole 1816, and the fill light 110 can comprise a light emitting unit 1101 and a lens 1103, the light emitting unit 1101 is arranged in the fill light mounting hole 1816, and the lens 1103 is located on the side of the light emitting unit 1101 facing the outside of the fill light mounting hole 1816. The lens 1103 comprises an opposite light entrance surface 1104 and a light exit surface 1105, the light entrance surface 1104 is a curved surface and faces the light emitting unit 1101, and the light exit surface 1105 is a flat surface. The light entrance surface 1104 is a curved surface, and the light exit surface 1105 is a flat surface, so that the fill light 110 has the structure of a flat head fill light, the internal space of the fill light 110 is used to accommodate the curved surface, without occupying the external height, thereby reducing the stacking height of the fill light 110 and further reducing the overall size of the machine.

[0070] The above-mentioned lens 1103 can be a Fresnel lens, one side of the curved surface of which faces the light emitting unit 1101, and the light emitting unit 1101 can comprise one or more LED lamp beads. In other embodiments, the fill light 110 can comprise a concave lens, the light entrance surface 1104 is a concave curved surface, and the concave lens is used to disperse light and expand the illumination range.

[0071] The fill light mounting hole 1816 is arranged on the side of the mounting base 181 facing the lower shell 125, and the lower shell 125 can further be provided with a second accommodation hole 1254 for accommodating the fill light 110, the second accommodation hole 1254 penetrates the lower shell 125, and the fill light 110 performs light filling for the obstacle avoidance module 183 through the second accommodation hole 1254. In other embodiments, the fill light mounting hole 1816 can be arranged on the lower shell 125, and the fill light 110 is directly mounted on the lower shell 125.

[0072] In the embodiment, the distance measuring module 185 comprises a transmitter 1852, a receiver 1854 and a second circuit board 1856, the second circuit board 1856 is connected to the mounting base 181, and the transmitter 1852 and the receiver 1854 are arranged on the second circuit board 1856 in the direction of the pitch axis P. The transmitter 1852 is used to emit signals to a target object, and the receiver 1854 is used to receive signals reflected from the target object, and the distance measuring module 185 can obtain the distance between the unmanned aerial vehicle 100 and the target object, which can be used to detect the distance when the unmanned aerial vehicle 100 lands, or to detect the distance of the obstacle below the unmanned aerial vehicle 100.

[0073] The distance measurement module 185 is connected to the side of the mounting base 181 facing the lower shell 125, and is located between the first lower camera 1832 and the second lower camera 1834. In order to facilitate the distance measurement module 185 to transmit and receive signals, in the embodiment, a third accommodation hole 1256 is also formed on the lower shell 125, and the third accommodation hole 1256 penetrates the lower shell 125. The number of the third accommodation hole 1256 is two, and the two third accommodation holes 1256 are arranged along the direction of the pitch axis P and correspond to the positions of the transmitter 1852 and the receiver 1854. The transmitter 1852 and the receiver 1854 transmit and receive signals through the two third accommodation holes 1256, respectively.

[0074] Please refer to FIG. 3, FIG. 5, FIG. 6, FIG. 7 and FIG. 8 again, in the embodiment, the machine body 10 can further include a movable part 16, and the movable part 16 is movably connected to the machine body 12. The movable support part 141 is arranged on the movable part 16, and the movable part 16 can move relative to the machine body 12 to make the movable support part 141 be in the first position or the second position. The movable support part 141 realizes the switching between the first position and the second position through the movable part 16, so that the movable support part 141 does not interfere with the panoramic shooting of the unmanned aerial vehicle 100 when in the first position, and supports the unmanned aerial vehicle 100 to protect the second fisheye lens 523 when in the second position.

[0075] In the present application, unless specifically defined or limited otherwise, the terms "mounting", "connected", "connection", "fixed", and the like should be interpreted broadly. For example, it can be fixed connection, or detachable connection, or integral connection; it can be mechanical connection, or electrical connection; it can be direct connection, or indirect connection through intermediate medium, or internal communication of two elements, or only surface contact. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. The "arrangement" in the above "the movable support part 141 is arranged on the movable part 16" can be direct connection, or indirect connection through intermediate medium.

[0076] The support part 14 can include the movable support part 141 and the fixed support part 143 described above, and the present specification does not limit the specific number of the movable support part 141 and the fixed support part 143 in the plurality of support parts 14. The movable support part 141 can be provided in plurality, and the fixed support part 143 can also be provided in plurality. It should be understood that the above "first position" and "second position" are relative to each movable support part 141, that is, each movable support part 141 has its own "first position" and "second position" when moving relative to the machine body 12. Further, the movable support part 141 can be arranged on the movable part 16 to realize the movement relative to the machine body 12 based on the movable part 16.

[0077] As an example, the number of the movable members 16 is at least three, and at least three of the at least three support portions 14 are movable support portions 141, and the three movable support portions 141 are respectively arranged on different movable members 16. At least three of the at least three support portions 14 are movable relative to the machine body 12 to be in the first position and the second position based on the corresponding movable member 16. When the at least three movable support portions 141 are in the respective first positions, the unmanned aerial vehicle 100 can be in the flight state, and the reference plane a defined by the at least three support portions 14 is higher than the lowest point of the second fisheye lens 523, thereby reducing the influence on the shooting of the second fisheye lens 523. When the at least three movable support portions 141 are in the respective second positions, the unmanned aerial vehicle 100 can be in the parking state, and the support plane b defined by the at least three support portions 14 is lower than the lowest point of the second fisheye lens 523, thereby avoiding the collision between the second fisheye lens 523 and the placement plane.

[0078] In another embodiment, the number of the movable members 16 is multiple, and at least two of the at least three support portions 14 are movable support portions 141, and the other support portions 14 in the at least three support portions 14 are not limited to the movable state or the fixed state. In the at least three support portions 14, two movable support portions 141 are respectively arranged on different movable members 16. At least two of the at least three support portions 14 are movable relative to the machine body 12 to be in the respective first positions and the respective second positions. When the at least two movable support portions 141 are in the respective first positions, the unmanned aerial vehicle 100 can be in the flight state, and the reference plane a defined by the at least three support portions 14 is higher than the lowest point of the second fisheye lens 523. When the at least two movable support portions 141 are in the respective second positions, the unmanned aerial vehicle 100 can be in the parking state, and the support plane b defined by the at least three support portions 14 is lower than the lowest point of the second fisheye lens 523.

[0079] In the embodiment, at least two of the at least three support portions 14 are movable support portions 141, and one of the at least three support portions 14 is a fixed support portion 143, and the fixed support portion 143 is fixedly arranged on the machine body 12. The present specification does not limit the specific combination of the at least three support portions 14, for example, the number of the movable support portions 141 can be two, and if the number of the support portions 14 is greater than three, the number of the movable support portions 141 can also be three. As an example, the number of the support portions 14 is three, of which two are movable support portions 141 arranged on the movable members 16, and one is a fixed support portion 143 fixed on the machine body 12. The reference plane a is defined by the two movable support portions 141 in the first position and the fixed support portion 143; and the support plane b is defined by the two movable support portions 141 in the second position and the fixed support portion 143.

[0080] The specific structure of the support portion 14 is not limited in the specification, and the support portion 14 can be a support protrusion, a support rod, a support point, or the like. In the embodiment, the support portion 14 is a support point, and the movable support portion 141 is the lowest point of the structure of the machine body 10, such as the lowest point of the machine body 12, the lowest point of the movable member 16, or the like, when the movable support portion 141 is in the second position.

[0081] The specific position of the fixed support portion 143 is not limited in the specification. As an example, the machine body 12 can be provided with a first protrusion 1255, as shown in FIG. 16. When the unmanned aerial vehicle 100 is in the flight state, the first protrusion 1255 is located at the bottom of the machine body 12 (the side of the machine body 12 facing downward) and protrudes relative to the surface of the machine body 12, and the fixed support portion 143 is located at the protruding end of the first protrusion 1255. Specifically, the first protrusion 1255 is connected to the lower shell 125 and protrudes relative to the outer surface of the lower shell 125, and the fixed support portion 143 is the lowest point of the end of the first protrusion 1255 away from the lower shell 125. The lowest point is the lowest point of the first protrusion 1255 when the unmanned aerial vehicle 100 is in the hovering state.

[0082] The specific connection manner between the first protrusion 1255 and the lower shell 125 is not limited in the specification. For example, the first protrusion 1255 can be a support block, a support column, or the like, which is fixedly connected to the lower shell 125 by a connection process or a connection structure. Alternatively, the first protrusion 1255 can be integrally formed with the lower shell 125. In other embodiments, the fixed support portion 143 can also be the lowest point of the lower shell 125 in the flight state of the unmanned aerial vehicle 100.

[0083] In some embodiments, two of the at least three supports 14 are fixed supports 143, and one of the at least three supports 14 is a movable support 141. The two fixed supports 143 are fixedly arranged on the body 12, and the movable support 141 is arranged on the movable member 16. As shown in FIG. 17, the body 12 can be provided with a second protrusion 1257 and a third protrusion 1258. In the flight state of the UAV 100, the second protrusion 1257 is located at the bottom of the body 12 and protrudes relative to the surface of the body 12, and the third protrusion 1258 is located at the bottom of the body 12 and protrudes relative to the surface of the body 12. One of the fixed supports 143 is located at the protruding end of the second protrusion 1257, and the other fixed support 143 is located at the protruding end of the third protrusion 1258. Specifically, the second protrusion 1257 is connected to the lower shell 125 and protrudes relative to the outer surface of the lower shell 125, and the third protrusion 1258 is connected to the lower shell 125 and protrudes relative to the outer surface of the lower shell 125. In the flight state, one of the fixed supports 143 is the lowest point of the end of the second protrusion 1257 away from the lower shell 125, and the other fixed support 143 is the lowest point of the end of the third protrusion 1258 away from the lower shell 125. Similarly, the second protrusion 1257 and the third protrusion 1258 can also be indirectly connected to the lower shell 125 or integrally formed with the lower shell 125.

[0084] Referring to FIGS. 3 and 4, the specific structure of the movable member 16 is not limited in the present specification. For example, the movable member 16 can be a telescopic member arranged on the body 12, or a flip member arranged on the body 12, etc. In the present embodiment, the body 10 can include a plurality of folding arms 15 connected to the body 12, and the plurality of folding arms 15 are movable relative to the body 12 to assume an unfolded state or a folded state. The power device 30 is arranged on the plurality of folding arms 15, and at least one of the plurality of folding arms 15 constitutes the movable member 16. The movable support 141 is arranged on the folding arm 15, and the folding arm 15 is movable relative to the body 12 to switch between the unfolded state and the folded state, and the folding arm 15 can drive the movable support 141 to switch between the first position and the second position during the switching process. The folding arm 15 assumes the unfolded state during use, and the movable support 141 is in the first position. When the UAV 100 is stored, the folding arm 15 can be moved relative to the body 12 to assume the folded state, and the movable support 141 is in the second position, thereby reducing the overall occupied space of the UAV 100 and facilitating the storage of the UAV 100.

[0085] In the embodiment, the folding arm 15 can include a rotating shaft 152 (as shown in FIG. 9) and an arm 154, which is rotatably connected to the body 12 through the rotating shaft 152. The arm 154 can rotate relative to the body 12 around the rotating shaft 152. When the UAV 100 is in the storage state, the folding arm 15 is in the folded state (as shown in FIG. 4), and the arm 154 is close to the body 12. When the UAV 100 is ready for take-off, the arm driving mechanism 152 drives the arm 154 to move relative to the body 12 to switch from the folded state to the unfolded state. Then, the power device 30 provides flight power for the UAV 100 to take off. After the flight is completed, the power device 30 drives the UAV 100 to land, and after landing and stopping, if the UAV 100 needs to be stored, the arm 154 is moved again relative to the body 12 to the folded state to reduce the occupied space of the whole machine, and at the same time, reduce the possibility of damaging the folding arm 15 when being stored.

[0086] The parking state of the UAV 100 includes the take-off state (as shown in FIG. 6) and the storage state. When the UAV 100 is in the take-off state, the folding arm 15 is in the unfolded state. When the UAV 100 is in the storage state, the folding arm 15 is in the folded state. The flight state of the UAV 100 includes the forward flight state and the hovering state. When the UAV 100 is in the forward flight state and the hovering state, the folding arm 15 is in the unfolded state.

[0087] When the movable support part 141 is in the first position, the folding arm 15 is in the unfolded state (the UAV 100 can be in the take-off state or the forward flight state), at this time, the movable support part 141 and the fixed support part 143 can form a reference plane a to reduce the influence on panoramic shooting. In other embodiments, when the UAV 100 is in the take-off state, the folding arm 15 is in the unfolded state, at this time, the movable support part 141 is in the first position, but the movable support part 141 and the fixed support part 143 do not form the reference plane a, and the movable support part 141 can be in contact with the placing plane of the UAV 100 to support the UAV 100, thereby avoiding damage to the second fisheye lens 523.

[0088] When the movable support part 141 is in the second position, the folding arm 15 is in the folded state, at this time, the movable support part 141 and the fixed support part 143 form a support plane b to support the UAV 100, thereby avoiding damage to the second fisheye lens 523. When the movable support part 141 is in the second position, the UAV 100 can be in the storage state.

[0089] Please refer to FIG. 3, FIG. 4 and FIG. 18, in the embodiment, the rotation shaft 152 can be connected to the middle frame 123, and the arms 154 are rotatably connected to the middle frame 123 through the rotation shaft 152. The number of the folding arms 15 is not limited in the specification, for example, the number of the folding arms 15 can be four or six. In the embodiment, the number of the folding arms 15 is four, and the number of the arms 154 is also four, which are arranged along the circumference of the machine body 12. Specifically, the four arms 154 can include a left front arm 1542, a right front arm 1544, a left rear arm 1546 and a right rear arm 1548, the left front arm 1542 and the right front arm 1544 are respectively located on the two sides of the head end 101, and the left rear arm 1546 and the right rear arm 1548 are respectively located on the two sides of the tail end 103. The specific installation position of the four arms 154 is not limited in the specification, which can be adjusted according to the power device 30 or the position of the gravity center of the whole machine.

[0090] The specific manner of the rotation of the arms 154 is not limited in the specification, for example, the state of the arms 154 can be manually changed by the operator, the arms 154 are manually unfolded when the unmanned aerial vehicle 100 is ready for take-off, and the arms 154 are manually rotated to be folded before storage. Further, a resilient component can be arranged between the arms 154 and the middle frame 123 (or between the arms 154 and the rotation shaft 152), so that when the operator manually unfolds the arms 154, the arms 154 can be automatically unfolded (or folded) to the position under the action of the resilient component by slightly applying force. In other embodiments, the arms 154 can also be automatically unfolded or folded, for example, the folding arms 15 can include a driving mechanism, and the driving mechanism can include a driving source, wherein the driving source can include a rotary motor, a rotary cylinder or the like, which can be directly connected to the rotation shaft of the arms 154. Alternatively, the driving mechanism can also include a transmission assembly, which can include a gear, a screw or the like transmission structure, and the driving source is connected to the arms 154 through the transmission assembly.

[0091] The specific direction of the axis O1 (as shown in FIG. 9) of the rotation shaft 152 is not limited in the specification, as an example, the axis O1 can be parallel to the yaw axis Y of the unmanned aerial vehicle 100. When stored, the left front arm 1542 and the right front arm 1544 are rotated backward to be close to the machine body 12, and the left rear arm 1546 and the right rear arm 1548 are rotated forward to be close to the machine body 12. In order to further reduce the occupied space of the unmanned aerial vehicle 100 when stored, the left front arm 1542 and the left rear arm 1546 are arranged side by side on the same side of the machine body 12 along the yaw axis Y, and the right front arm 1544 and the right rear arm 1548 are arranged side by side on the other side of the machine body 12 along the yaw axis Y, which reduces the width dimension of the whole machine when the unmanned aerial vehicle 100 is stored.

[0092] The axis O1 is parallel to the yaw axis Y of the UAV 100, and the movable support portion 141 is arranged on the side of the arm 154 facing downward when the UAV 100 is in the flight state. The present specification does not limit the specific position of the movable support portion 141 on the arm 154. For example, in the flight state, the movable support portion 141 can be the lowest point of the surface of the arm 154 facing downward. In other embodiments, in the flight state, the movable support portion 141 can also be the lowest point of the protrusion arranged on the arm 154. Specifically, the arm 154 can be provided with a fourth protrusion 1541 protruding from the surface of the arm 154, and the movable support portion 141 is arranged at the end of the fourth protrusion 1541 facing downward in the flight state. The movable support portion 141 is the lowest point of the end of the fourth protrusion 1541 away from the arm 154. The lowest point is the lowest point of the arm 154 when the UAV 100 is in the hovering state.

[0093] The present specification does not limit the specific position of the fourth protrusion 1541 on the arm 154. For example, in the flight state, the fourth protrusion 1541 can be arranged below, above, or on the side wall of the arm 154. It should be noted that the fourth protrusion 1541 can be arranged on the driving member 32 or the propeller 34 of the power device 30 on the arm 154. The present specification does not limit the specific connection mode between the fourth protrusion 1541 and the arm 154 or the power device 30. For example, the fourth protrusion 1541 can be a support block, a support column, or the like fixedly connected to the arm 154 or the power device 30 through a connection process or a connection structure. Alternatively, the fourth protrusion 1541 can be integrally formed on the arm 154.

[0094] In other embodiments, the axis O1 can also intersect the yaw axis Y, so as to increase the height difference between the lowest points of the arm 15 in the unfolded state and the folded state. The present specification does not limit the specific range of the angle between the axis O1 and the yaw axis Y. The angle between the axis O1 and the yaw axis Y can fall within any one of the following angle ranges: (0°, 3°], [3°, 6°], [6°, 10°], [10°, 20°]. For example, the angle between the axis O1 and the yaw axis Y can be 1°, 2°, 3°, 4°, 5°, 6°, 7°, 8°, 9°, 10°, 15°, 20°, etc.

[0095] In some embodiments, the axis O1 can be parallel to the first plane c. The arm 154 can be flipped relative to the body 12 about the axis O1 to switch between the unfolded state and the folded state. In this embodiment, the axis O1 can be parallel to the pitch axis P or the roll axis R, and the arm 154 can be flipped to be stored at the top or the bottom of the body 12. In the flight state, the folded arm 15 is in the unfolded state, and the arm 154 is flipped to be away from the body 12 at one end. At this time, the movable support portion 141 is arranged at the highest point on the side of the arm 154 away from the ground.

[0096] In other embodiments, the axis O1 and the first plane c intersect. The present specification does not limit the specific range of the angle between the axis O1 and the first plane c, and the angle between the axis O1 and the first plane c can fall within any one of the following angle ranges: (0°, 3°], [3°, 6°], [6°, 10°], [10°, 20°]. For example, the angle between the axis O1 and the first plane c can be 1°, 2°, 3°, 4°, 5°, 6°, 7°, 8°, 9°, 10°, 15°, 20°, etc.

[0097] In this embodiment, the power device 30 is arranged on the arm 154, which is used to provide power for the flight of the unmanned aerial vehicle 100. The power device 30 can include a driving member 32 and a propeller 34, and the driving member 32 is connected between the arm 154 and the propeller 34 and is used to drive the propeller 34 to rotate. The movable support portion 141 can be arranged at the end of the arm 154 or on the driving member 32. The driving member 32 can move with the arm 154 relative to the body 12, so as to change the position of the movable support portion 141. In the flight state, the driving member 32 is located below the propeller 34, and the movable support portion 141 is located at the lowest point on the side of the driving member 32 facing the ground. In this embodiment, the axis O1 is parallel to the yaw axis Y. Even if the arm 154 moves relative to the body 12 to be in the folded state, the movable support portion 141 is still located at the lowest point on the side of the driving member 32 facing the ground. The driving member 32 can be a rotary motor.

[0098] In another embodiment, in the flight state of the unmanned aerial vehicle 100, the driving member 32 is located below the propeller 34, and the movable support portion 141 is located at the highest point on the side of the driving member 32 away from the ground. In this embodiment, the axis O1 can be parallel to the first plane c. When the arm 154 is rotated relative to the body 12 to be in the folded state, the driving member 32 is flipped, and the highest point in the unfolded state becomes the lowest point in the folded state. At this time, the movable support portion 141 is located at the lowest point on the side of the driving member 32 facing the ground.

[0099] The number of propellers 34 is set to multiple groups, and each group of propellers 34 can include multiple blades, for example, each group of propellers 34 can include two blades; or each group of propellers 34 can include three or four blades. Please refer to FIG. 3 and FIG. 19, in the hovering state, each set of propellers 34 generates a pulling force f, and the action point of the pulling force f is basically the rotating shaft of the output end of the corresponding driving member 32 (for example, the rotating shaft of the rotating motor); the resultant force F of the pulling forces f generated by the four sets of propellers 34 balances with the gravity G of the unmanned aerial vehicle 100, so that the unmanned aerial vehicle 100 is stably suspended in the air; at this time, the resultant force F of the pulling forces f generated by the four sets of propellers 34 is the pulling force F applied to the whole 100 by the power device 30, and the action point is equivalent to the center of pulling force FO, so it can be regarded as that the power device 30 has the center of pulling force FO. Multiple sets of propellers 34 are distributed on the outer periphery of the fuselage 10 and jointly form the center of pulling force FO. Each set of propellers 34 has a rotating shaft O2 in the flight state, which is the rotating shaft of the output end of the corresponding driving member 32 (for example, the rotating shaft of the rotating motor), and the pulling force f generated by the propeller 34 is collinear with the rotating shaft O2.

[0100] The number of power devices 30 can be set to be multiple, and in the embodiment, the number of power devices 30 is consistent with the number of folding arms 15, for example, the number of power devices 30 and the number of arms 154 are both set to four. Please refer to FIG. 18, the four power devices 30 include four pairs of propellers 34, four driving members 32, and the four driving members 32 are respectively and correspondingly connected to the four pairs of propellers 34. The four pairs of propellers 34 are respectively and correspondingly connected to the four arms 154, and the four pairs of propellers 34 include a left front rotor 342, a right front rotor 344, a left rear rotor 346, and a right rear rotor 348. The left front rotor 342 is connected to the left front arm 1542, the right front rotor 344 is connected to the right front arm 1544, the left rear rotor 346 is connected to the left rear arm 1546, and the right rear rotor 348 is connected to the right rear arm 1548. The left front rotor 342 and the right front rotor 344 are respectively located on both sides of the nose end 101, and the left rear rotor 346 and the right rear rotor 348 are respectively located on both sides of the tail end 103. The distance between the rotation axis O2 of the right front rotor 344 and the rotation axis O2 of the right rear rotor 348 in the forward flight direction E2 is the track H, and in the hovering state, the maximum distance D between the plurality of force centers FO and the center of gravity GO of the unmanned aerial vehicle 100 satisfies: D≤5%*H. It should be understood that there is a corresponding track distance between any two of the plurality of pairs of propellers 34, that is, in the plurality of pairs of propellers 34, the distance between the rotation axes O2 of any two pairs of propellers 34 is called a track distance, and then the plurality of pairs of propellers 34 are combined in pairs to generate a plurality of track distances, and the above-mentioned track H is the largest one of the plurality of track distances. In the hovering state of the embodiment, it should be understood that the unmanned aerial vehicle hovers in the air without the interference of wind and other external forces. At this time, when the maximum distance D between the plurality of force centers FO and the center of gravity GO of the unmanned aerial vehicle 100 satisfies: D≤5%*H, the weight of the entire unmanned aerial vehicle 100 is further reduced, and the unmanned aerial vehicle 100 tends to be lightweight.

[0101] Please refer to FIG. 4 and FIG. 18 at the same time, in some embodiments, the fuselage 10 can further include a folding landing gear 13 connected to the machine body 12, and the folding landing gear 13 can be moved relative to the machine body 12 to be in a supporting state or a folding state, and the folding landing gear 13 can constitute the above-mentioned movable member 16. When the folding landing gear 13 is in the supporting state, the movable support part 141 is located at the lowest point of the folding landing gear 13, and at this time, it is the second position of the movable support part 12. The movable support part 141 is arranged on the folding landing gear 13, and the folding landing gear 13 can be moved relative to the machine body 12 to switch between the supporting state and the folding state, and the folding landing gear 13 can drive the movable support part 141 to switch between the first position and the second position during the switching process.

[0102] When the UAV 100 is in the standby state, the folding landing gear 13 is in the supporting state, and when the UAV 100 is in the storage state, the folding landing gear 13 is in the folded state. When the UAV 100 is in the flight state (including the forward flight state and the hovering state), the folding landing gear 13 is in the folded state.

[0103] When the movable support part 141 is in the first position, the folding landing gear 13 is in the folded state, and the movable support part 141 and the fixed support part 143 form a reference plane a to avoid affecting panoramic shooting. At this time, the UAV 100 can be in any one of the forward flight state, the hovering state and the storage state. When the movable support part 141 is in the second position, the folding landing gear 13 is in the supporting state, and the movable support part 141 and the fixed support part 143 form a supporting plane b to support the UAV 100 and avoid damage to the second fisheye lens 523. At this time, the UAV 100 can be in the standby state or the storage state.

[0104] When the UAV 100 is in the flight state, the folding landing gear 13 is in the folded state and does not enter the field of view of the second fisheye lens 523 to affect panoramic shooting. When the UAV 100 is in the standby state (as shown in FIG. 6), the folding landing gear 13 is in the unfolded state to support the UAV 100 and avoid damage to the second fisheye lens 523. When the UAV 100 is stored (as shown in FIG. 4), the folding landing gear 13 can be moved relative to the machine body 12 to be in the folded state, thereby reducing the overall space occupied by the UAV 100 and making the UAV 100 more convenient to store.

[0105] In the embodiment, the folding landing gear 13 can include a landing gear driving mechanism 132 and a landing gear 134 rotatably connected to the body 12. The landing gear driving mechanism 132 is connected between the body 12 and the landing gear 134, and is configured to drive the landing gear 134 to rotate relative to the body 12. When the UAV 100 is in the storage state, the folding landing gear 13 is in the retracted state, and the landing gear 134 is close to the body 12. When the UAV 100 is ready for takeoff, the landing gear driving mechanism 132 drives the landing gear 134 to move relative to the body 12 to switch from the retracted state to the supporting state. Then, the power device 30 provides flight power for the UAV 100 to take off, and during the takeoff process, the landing gear driving mechanism 132 drives the landing gear 134 to move relative to the body 12 to switch from the supporting state back to the retracted state to avoid affecting panoramic shooting. After completing the flight, the power device 30 drives the UAV 100 to land, and during the landing process, the landing gear driving mechanism 132 again drives the landing gear 134 to move relative to the body 12 to the supporting state to protect the second fisheye lens 523. In some embodiments, in order to further reduce the overall space occupied by the UAV 100 when it is stored, the bottom shell 125 can be provided with a recessed part, such as a groove, to accommodate the landing gear 134 in the retracted state.

[0106] In particular, in the embodiment, the landing gear 134 is rotatably connected to the lower shell 125, and the landing gear 134 has a connecting end 1341 and a free end 1343 (as shown in FIG. 4), the connecting end 1341 is connected to the lower shell 125, for example, rotatably connected to the lower shell 125 through a rotating shaft. The landing gear 134 can also be detachably connected to the lower shell 125 to facilitate replacement when worn out. When the landing gear 134 moves relative to the body 12, the free end 1343 can move away from or close to the body 12. The landing gear driving mechanism 132 can be arranged in the body 12 and drivingly connected to the landing gear 134. The present specification does not limit the specific number of folding landing gears 13, for example, the number of folding landing gears 13 can be one, two, three, four, etc. In the embodiment, the number of folding landing gears 13 is two, and the number of landing gears 134 is also two. The two landing gears 134 are arranged along the pitch axis P, specifically, the two landing gears 134 can be arranged at one end of the body 12 close to the nose end 101, and cooperate with the fixed support part 143 at the bottom of the body 12 to jointly support the UAV 100. The present specification does not limit the specific mounting position of the two landing gears 134, which can be adjusted according to the overall center of gravity position.

[0107] The landing gear driving mechanism 132 can be arranged in the body 12, for example, on the lower shell 125. The specific structure of the landing gear driving mechanism 132 is not limited in the present specification. For example, the landing gear driving mechanism 132 can include a driving source, which can include a rotary motor, a steering engine, a rotary cylinder, etc., which can be directly connected to the rotating shaft of the landing gear 134. Alternatively, the landing gear driving mechanism 132 can also include a transmission assembly, which can include a gear, a screw, etc., and the driving source is connected to the landing gear 134 through the transmission assembly.

[0108] In some embodiments, two landing gears 134 can be driven by one landing gear driving mechanism 132. For example, the landing gear driving mechanism 132 includes a driving source and a transmission shaft, which is connected between the two landing gears 134 and is drivingly connected to the driving source. The two landing gears 134 are coaxially driven, which improves the support stability and reduces the overall weight of the machine.

[0109] As can be seen from the above, the folding landing gear 13 can drive the movable support part 141 to switch between the first position and the second position. When the folding landing gear 13 is in the supporting state, the movable support part 141 is located at the lowest point of the folding landing gear 13, i.e., the lowest point of the free end 1343 of the folding landing gear 13. In some embodiments, the fixed support part 143 can be arranged at the connecting end 1341 of the folding landing gear 13. When the unmanned aerial vehicle 100 is in the storage state, the folding landing gear 13 is in the folded state, at this time, the free end 1343 and the connecting end 1341 are close to the body 12, and the connecting end 1341 protrudes from the lower shell 125. The fixed support part 143 is located at the lowest point of the connecting end 1341, which can cooperate with other fixed support parts 143 on the body 12 to form a support plane b lower than the second fisheye lens 523, or can cooperate with the movable support part 141 on the folding arm 15 or the power device 30 to form the support plane b.

[0110] In the embodiment, the at least three support portions 14 jointly define a support plane b for supporting the UAV 100 to protect the second fisheye lens 523. The at least three support portions 14 include movable support portions 141 and fixed support portions 143, and the positions of the movable support portions 141 and the fixed support portions 143 are not limited in the specification. As described above, the movable support portions 141 can be arranged on the folding arms 15, for example, arranged at the lowest points of the downward sides (in the flight state) of the arms 154, or arranged on the power device 30, for example, arranged on the driving member 32, or arranged on the folding landing gear 13. Similarly, the fixed support portions 143 can be the lowest points of the lower shell 125 or the lowest points of protrusions on the lower shell 125. The specification does not limit the respective specific numbers of the movable support portions 141 and the fixed support portions 143. The movable support portions 141 can be two, the fixed support portions 143 can be two, or the movable support portions 141 can be three, and the fixed support portions 143 can be two.

[0111] In an embodiment of the application, the movable support portions 141 are two, the two movable support portions 141 are arranged on the two landing gears 134, and the fixed support portions 143 are one, and the fixed support portion 143 is the lowest point of the downward side of the lower shell 125. The folding landing gear 13 is in the support state, and the two movable support portions 141 in the second position and the fixed support portion 143 jointly define a support plane b, which coincides with the parking plane in the parking state and is below the lowest point of the second fisheye lens 523, so that the second fisheye lens 523 is spaced from the parking plane to avoid damaging the second fisheye lens 523. The specification does not limit the height difference between the second fisheye lens 523 and the support plane b in the parking state. The height difference between the second fisheye lens 523 and the support plane b in the parking state can be 5 mm, 10 mm, 15 mm, 20 mm, 30 mm, 50 mm, 100 mm, etc.

[0112] In order to improve the stability of the support plane b supporting the unmanned aerial vehicle 100 in the parking state, in the embodiment, in the parking state, when the unmanned aerial vehicle 100 is projected to a reference projection plane in a specified direction, the projection of the center of gravity of the unmanned aerial vehicle 100 falls within the projection range of the support plane b (as shown in FIGS. 7 and 8), the reference projection plane is parallel to the support plane b, and the specified direction is perpendicular to the reference projection plane. The reference projection plane can be understood as a parking plane (for example, a desktop or a ground surface, etc.) on which the unmanned aerial vehicle 100 is parked, and the specified direction is a direction perpendicular to the parking plane. For example, if the reference plane a is a horizontal plane S, the specified direction is the direction of gravity. The projection of the center of gravity of the unmanned aerial vehicle 100 falls within the projection range of the support plane b, and the support plane b can provide good support effect for the unmanned aerial vehicle 100, thereby improving the stability of the unmanned aerial vehicle 100 in the parking state.

[0113] Referring to FIGS. 9, 20 and 21, in the embodiment, the unmanned aerial vehicle 100 can further include a bracket 20 connected to the body 12, and the bracket 20 is used to mount the image acquisition device 50. The bracket 20 is provided with a heat dissipation structure for dissipating heat of the image acquisition device 50. The image acquisition device 50 is connected to the bracket 20 and connected to the body 12 through the bracket 20, which improves the convenience of the whole machine assembly. The heat dissipation structure dissipates heat of the image acquisition device 50, thereby improving the quality of the images taken by the image acquisition device 50.

[0114] The bracket 20 can include a mounting body 21 and a damping member 23 connected between the mounting body 21 and the body 12, and the mounting body 21 is connected to the body 12 through the damping member 23. The image acquisition device 50 is arranged on the mounting body 21, and the damping member 23 reduces the influence of the components (for example, the folding arm 15 and the power device 30, etc.) on the body 12 on the image acquisition device 50, thereby improving the quality of the images acquired by the image acquisition device 50.

[0115] In the embodiment, the bracket 20 can further include a connecting frame 25, and the damping member 23 is connected between the connecting frame 25 and the mounting body 21. The connecting frame 25 is provided with a mounting portion 254 directly connected to the middle frame 123 through a fastener. The image acquisition device 50 is arranged on the bracket 20, and the bracket 20 is directly connected to the body 12 through the fastener. The image acquisition device 50 and the bracket 20 are modularly arranged, and are convenient to disassemble and assemble.

[0116] The connecting frame 25 can include a mounting seat 252 and a plurality of mounting portions 254 described above, the plurality of mounting portions 254 are distributed on the mounting seat 252, and the plurality of mounting portions 254 are respectively connected with the body 12 and allow the mounting seat 252 and the body 12 to have a heat dissipation gap 256 (as shown in FIG. 3) in communication with the outside. The image acquisition device 50 and the support 20 are connected to the body 12 through the mounting portions 254, and the image acquisition device 50 and the body 12 also have the heat dissipation gap 256, and the heat generated by the image acquisition device 50 during operation can be dissipated through the heat dissipation gap 256, thereby improving the heat dissipation efficiency of the image acquisition device 50. In addition, the airflow during the flight of the unmanned aerial vehicle 100 can also dissipate heat to the components in the support 20 through the heat dissipation gap 256, further improving the heat dissipation effect.

[0117] In order to improve the connection stability before the installation of the main body 21, in the embodiment, the mounting seat 252 is a semi-enclosed structure, thereby increasing the range connected with the main body 21. As an example, the mounting seat 252 can include a main mounting plate 2521 and two side plates 2523 connected to the same side of the main mounting plate 2521 and spaced apart, and together form a semi-enclosed mounting seat 252. The main body 21 is at least partially accommodated between the two side plates 2523, and the damping member 23 can be arranged between the side plates 2523 and the main body 21. Among them, the mounting seat 252 as a whole can be made of metal, and the main mounting plate 2521 and the two side plates 2523 are spaced apart from the body 12.

[0118] The mounting portion 254 is fixedly connected to the side plate 2523, and the number of the mounting portion 254 is provided as a plurality of mounting portions 254, and the plurality of mounting portions 254 are divided into two groups, and the two groups of mounting portions 254 are respectively connected to the opposite sides of the two side plates 2523. Each group of mounting portions 254 can include two mounting portions 254. Taking the mounting portions 254 on one side plate 2523 as an example, the two mounting portions 254 are arranged in the height direction of the body 10. The mounting portion 254 protrudes relative to the surface of the side plate 2523 to form the heat dissipation gap 256 between the mounting seat 252 and the middle frame 123, and the mounting portion 254 can be provided with a mounting hole for mounting a fastener.

[0119] In order to increase the connection stability between the body 12 and the bracket 20, in the present embodiment, the middle frame 123 can include two support shell portions 1235 (as shown in FIG. 9). The support shell portions 1235 are connected to the same end of the main shell portion 1232, and the two support shell portions 1235 are oppositely spaced to form a receiving space 124, and the bracket 20 is accommodated in the receiving space 124. A plurality of mounting portions 254 are distributed on both sides of the bracket 20 and are connected to the two support shell portions 1235, respectively, and the heat dissipation gap 256 is arranged between the support shell portion 1235 and the mounting seat 252. The bracket 20 is embedded in the receiving space 124 of the body 12, which improves the connection stability between the bracket 20 and the body 12, reduces the length of the entire unmanned aerial vehicle 100, and optimizes the appearance of the unmanned aerial vehicle 100.

[0120] In particular, in the present embodiment, the internal spaces of the main shell portion 1232 and the support shell portion 1235 are communicated to facilitate the installation of other internal elements. The support shell portion 1235 can be integrally formed with the main shell portion 1232. The opposite sides of the two support shell portions 1235 can be provided with connection structures for cooperating with the mounting portions 254. The two groups of mounting portions 254 are connected to the corresponding support shell portions 1235 by fasteners, wherein the fasteners can include screws, pins and other fastening structures.

[0121] In the present embodiment, the upper shell 121 and the lower shell 125 are connected and cover the opposite sides of the middle frame 123, respectively, and the overall shape of the upper shell 121 and the lower shell 125 also generally conforms to the middle frame 123. Correspondingly, the upper shell 121 can also include a main shell portion and two support shell portions, and is connected to the main shell portion 1232 and the two support shell portions 1235 of the middle frame 123 one by one. Similarly, the lower shell 125 can also include a main shell portion and two support shell portions, and is connected to the main shell portion 1232 and the two support shell portions 1235 of the middle frame 123 one by one.

[0122] The specific structure of the damping member 23 is not limited in the specification, for example, the damping member 23 can include at least one of a damping ball, a damping washer, a damping sleeve, and the like. In the embodiment, the damping member 23 includes a second damping ball 232. The mounting body 21 is provided with a first mounting hole 211, and the connecting frame 25 is provided with a second mounting hole 251. One side of the second damping ball 232 is connected to the first mounting hole 211, and the other side is connected to the second mounting hole 251. Specifically, the second mounting hole 251 is arranged on the side plate 2523, and in order to save materials and reduce weight, a mounting piece for connecting the second damping ball 232 can be arranged on the side plate 2523, the mounting piece extends relative to the side plate 2523, and the second mounting hole 251 is arranged on the mounting piece. When the mounting body 21 is embedded between the two side plates 2523, the first mounting hole 211 and the second mounting hole 251 are in communication, and the two sides of the second damping ball 232 are respectively arranged in the first mounting hole 211 and the second mounting hole 251.

[0123] In the embodiment, the second damping ball 232 has a deformation axis direction, and a plurality of second damping balls 232 are divided into two groups, and the two groups of second damping balls 232 are respectively located on the two sides of the connecting frame 25. Each group of second damping balls 232 includes at least three second damping balls 232, and the deformation axis directions of the three second damping balls 232 in the same group intersect with each other. Among them, the "deformation axis direction" can be understood as the preset damping compression direction of the second damping ball 232, and the deformation axis direction of the second damping ball 232 is coaxial with the first mounting hole 211 and the second mounting hole 251 described above. The two groups of second damping balls 232 are respectively located on the two side plates 2523, the deformation axis directions of the three second damping balls 232 in each group intersect, and the impact force on the image acquisition device 50 on the bracket 20 caused by the fuselage 10 is buffered in three directions, further improving the damping effect and improving the shooting stability of the image acquisition device 50.

[0124] The specific arrangement of the two groups of second damping balls 232 is not limited in the specification, in order to improve the uniformity of damping, in the embodiment, the three second damping balls 232 in each group of second damping balls 232 are distributed at the three vertices of an equilateral triangle (as shown in FIG. 20). The three second damping balls 232 in each group can uniformly buffer the impact force in three directions, improving the damping effect. In the embodiment, the three second damping balls 232 in the first group correspond one by one to the three second damping balls 232 in the second group. As shown in FIG. 20, the centers of the four second damping balls 232 close to the first fisheye lens 521 in the two groups of second damping balls 232 are located on the same plane, and the centers of the two second damping balls 232 close to the second fisheye lens 523 in the two groups of second damping balls 232 are located on the same straight line.

[0125] The support 20 is loaded with the second damping balls 232 through the connecting frame 25. In assembly, two groups of the second damping balls 232 can be first installed on the connecting frame 25, then the connecting frame 25 is installed on the mounting body 21, and finally the connecting frame 25 is integrally installed on the machine body 12 through the mounting portion 254. This installation method avoids the cumbersome process of directly installing the second damping balls 232 on the complex mounting body 21, and improves the cooperation stability between the structures of the support 20.

[0126] In the present embodiment, the image acquisition device 50 is arranged on the mounting body 21, and the mounting body 21 further improves the heat dissipation effect of the image acquisition device 50. The mounting body 21 can include a heat conduction portion 2121 and a heat dissipation fin 2123. The heat conduction portion 2121 is connected to the connecting frame 25, and the heat dissipation fin 2123 is connected to the heat conduction portion 2121. The first fisheye lens 521 and the second fisheye lens 523 are arranged on the heat conduction portion 2121 and in contact with the surface of the heat conduction portion 2121. When the image acquisition device 50 is running, the heat generated by the first fisheye lens 521 and the second fisheye lens 523 is conducted to the heat dissipation fin 2123 by the heat conduction portion 2121, which reduces the temperature of the first fisheye lens 521 and the second fisheye lens 523, improves the stability of shooting, and prolongs the service life of the first fisheye lens 521 and the second fisheye lens 523.

[0127] The mounting body 21 is used for heat conduction and heat dissipation, and forms at least part of the heat dissipation structure described above, which realizes the heat dissipation function of the image acquisition device 50 through the preferred heat conduction performance. As an example, the mounting body 21 can include a contact heat conduction portion, a heat dissipation rib plate, a heat dissipation channel, a ventilation hole, and other heat dissipation designs. The present specification does not limit the specific material of the mounting body 21, and the mounting body 21 can adopt a metal material with good heat conduction performance to improve the heat conduction and heat dissipation effect. For example, the material of the mounting body 21 can include aluminum, copper, etc.

[0128] The specific structure of the heat conduction part 2121 is not limited in the specification, and in actual applications, the specific structure of the heat conduction part 2121 can be adjusted according to the installation requirements of the image acquisition device 50. For example, the heat conduction part 2121 can be a mounting block with a length direction substantially in the same direction as the height direction of the fuselage 10, so that the first fisheye lens 521 and the second fisheye lens 523 can be located at the top and bottom of the fuselage 10, respectively. The heat conduction part 2121 can be provided with a plurality of different types of mounting structures (such as mounting columns, mounting holes, etc.) for mounting the first fisheye lens 521, the second fisheye lens 523, or other structures of the image acquisition device 50. The heat conduction part 2121 can be in contact with the image chips of the first fisheye lens 521 and the second fisheye lens 523, and the heat conduction efficiency is relatively high. The "contact" can include direct contact, indirect contact, etc. The specific structure of the heat conduction part 2121 is not limited in the specification, for example, the heat conduction part 2121 can only include a metal shell or a plastic shell, which cools the image acquisition device 50 by contact heat conduction. Alternatively, the heat conduction part 2121 can include a metal shell or a plastic shell, and the heat conduction part 2121 further includes heat-conducting silica gel provided between the metal shell or the plastic shell and the image acquisition device 50.

[0129] The heat dissipation fins 2123 are provided on the side of the heat conduction part 2121 facing the connecting frame 25. The side of the heat conduction part 2121 facing the connecting frame 25 has a larger area, and the number of heat dissipation fins 2123 can be set to be larger, improving the heat dissipation effect. The heat dissipation fins 2123 are integrally formed on the heat conduction part 2121, and heat is transferred to the surrounding environment through convection and radiation. The plurality of heat dissipation fins 2123 further increase the heat dissipation area and improve the heat dissipation effect.

[0130] In the embodiment, the bracket 20 further comprises a protective shell 27 connected to the heat-conducting part 2121 and surrounding at least part of the outer periphery of the first fisheye lens 521 or / and the second fisheye lens 523. The protective shell 27 is used to protect the first fisheye lens 521 or / and the second fisheye lens 523 and the internal elements of the bracket 20. The protective shell 27 is connected to the heat-conducting part 2121, and the specific material of the protective shell 27 is not limited in the specification, for example, the protective shell 27 can be made of plastic, or can be made of metal with good heat dissipation, such as aluminum, copper, etc. In some embodiments, the protective shell 27 is a metal protective shell, the surface thereof is exposed to the outside and can be provided with a plurality of heat dissipation fins to increase the contact area with the outside and enhance the heat dissipation capacity; the mounting body 21 and the protective shell 27 jointly form at least part of the heat dissipation structure, and the protective shell 27 can realize the heat dissipation function of the first fisheye lens 521 or / and the second fisheye lens 523 through the better heat conduction performance. The protective shell 27 is arranged on the side of the heat-conducting part 2121 facing the middle frame 123, and is arranged adjacent to the heat dissipation gap 256, which on the one hand improves the appearance of the unmanned aerial vehicle 100, and on the other hand, the width of the heat dissipation gap 256 is small and the airflow speed is relatively large, so that the heat dissipation is faster. In addition, the extension direction of the heat dissipation fins 2123 is consistent with the extension direction of the heat dissipation gap 256, so that the airflow in the extension direction of the heat dissipation fins 2123 is consistent with the flow direction between the heat dissipation gaps 256, and the channels between the adjacent two fins in the heat dissipation fins 2123 are communicated with the heat dissipation gaps 256, further improving the heat dissipation effect.

[0131] In other embodiments, the body 12 can also be provided with an air inlet hole, and the air outlet of the air inlet hole is opposite to the bracket 20. The airflow flowing into the body 12 through the air inlet hole can flow through the heat dissipation fins on the bracket 20 to further dissipate heat for the first fisheye lens 521 or / and the second fisheye lens 523, improving the heat dissipation efficiency. When the unmanned aerial vehicle 100 is in a flight state, the airflow driven by the rotation of the propeller 34 can also dissipate heat for the bracket 20 and the first fisheye lens 521 or / and the second fisheye lens 523 on the bracket 20 through the air inlet hole, further improving the heat dissipation effect.

[0132] The image acquisition device 50 is mounted on the bracket 20, and the specific position of the bracket 20 relative to the body 12 is not limited in the specification, for example, the bracket 20 can be arranged at the head end 101, or can be arranged at the tail end 103, or the bracket 20 can also be arranged at the middle section of the body 12. In the embodiment, the bracket 20 is arranged at the head end 101.

[0133] In the embodiment, the image acquisition device 50 can include a panoramic module 52, which is used to shoot panoramic images. The panoramic module 52 includes the first fisheye lens 521 and the second fisheye lens 523 described above. The first fisheye lens 521 is arranged at one end of the heat conduction portion 2121 close to the upper shell 121, and the second fisheye lens 523 is arranged at one end of the heat conduction portion 2121 close to the lower shell 125. The panoramic module 52 is placed on one side of the body 12 through the bracket 20 and connected to the body 12 through the bracket 20 with a heat dissipation structure, which reduces the heat dissipation requirement in the body 12 and can fully utilize the external airflow to dissipate heat for the panoramic module 52. The first fisheye lens 521 and the second fisheye lens 523 are arranged along the yaw axis Y. When the unmanned aerial vehicle 100 is in a hovering state, the light receiving side of the first fisheye lens 521 faces upward of the body 10, and the second fisheye lens 523 faces downward of the body 10.

[0134] Referring to FIGS. 5, 22 and 23, the field of view FOV1 of the first fisheye lens 521 is greater than 180°, and the field of view FOV2 of the second fisheye lens 523 is greater than 180°. The fields of view of the first fisheye lens 521 and the second fisheye lens 523 partially overlap to obtain panoramic images. In order to avoid other structures of the unmanned aerial vehicle 100 from entering the field of view when the first fisheye lens 521 and the second fisheye lens 523 shoot, the first fisheye lens 521 protrudes from the outer surface of the upper shell 121, and the second fisheye lens 523 protrudes from the outer surface of the lower shell 125 to increase the fusion angle of splicing.

[0135] In the embodiment, a virtual connection of the optical center of the first fisheye lens 521 and the optical center of the second fisheye lens 523 forms a first axis O3. Please refer to FIG. 20 and FIG. 24 simultaneously, the first fisheye lens 521 comprises a first convex lens 5212, the optical center of the first fisheye lens 521 is the optical center of the first convex lens 5212, and the first convex lens 5212 has a first highest point C1 which protrudes relative to the body 12. The second fisheye lens 523 comprises a second convex lens 5232, the optical center of the second fisheye lens 523 is the optical center of the second convex lens 5232, and the second convex lens 5232 has a second highest point C2 which protrudes relative to the body 12. The first highest point C1 and the second highest point C2 are both located on the first axis O3. When the optical axis of the first fisheye lens 521 and the optical axis of the second fisheye lens 523 are coaxial, the first highest point C1 and the second highest point C2 are both located on the first axis O3; when the optical axis of the first fisheye lens 521 and the optical axis of the second fisheye lens 523 are not coaxial, the first axis O3 does not pass through the first highest point C1 and the second highest point C2 at the same time, or the first highest point C1 and the second highest point C2 are not both located on the first axis O3. Therefore, for the convenience of description, it is assumed that the vertical projection of the first highest point C1 on the first axis O3 is a first highest projection point, the vertical projection of the second highest point C2 on the first axis O3 is a second highest projection point, and if the optical axis of the first fisheye lens 521 and the optical axis of the second fisheye lens 523 are coaxial, the first highest projection point coincides with the first highest point C1 and the second highest projection point coincides with the second highest point C2.

[0136] In the flight state, the projections of all other structures of the unmanned aerial vehicle 100 on the first axis O3 fall between the first highest point C1 and the second highest point C2, or the projections of all other structures of the unmanned aerial vehicle 100 on the first axis O3 are between the first highest projection point and the second highest projection point, so as to avoid entering the field of view of the first fisheye lens 521 and the field of view of the second fisheye lens 523 in the process of shooting. The projection direction of the projection of all other structures of the unmanned aerial vehicle 100 on the first axis O3 is perpendicular to the first axis O3, that is, the projection of the projection direction on the first axis O3 is along the straight line L1 perpendicular to the first axis O3. Specifically, when the folding arm 15 is in the unfolded state (as shown in FIG. 5), the projection of the fuselage 10 on the first axis O3 falls between the first highest point C1 and the second highest point C2, or between the first highest projection point and the second highest projection point. Further, the projection of the movable support portion 141 on the folding arm 15 on the first axis O3 falls between the first highest point C1 and the second highest point C2, or between the first highest projection point and the second highest projection point. When the folding arm 15 is in the unfolded state, the projection of the flapping area of the propeller 34 on the first axis O3 falls between the first highest point C1 and the second highest point C2, or between the first highest projection point and the second highest projection point, and the field of view of the first fisheye lens 521 and the second fisheye lens 523 will not be blocked by the blades of the propeller 34. When the folding landing gear 13 is in the folded state, the projection of the folding landing gear 13 on the first axis O3 falls between the first highest point C1 and the second highest point C2, or between the first highest projection point and the second highest projection point.

[0137] To further ensure that in the flight state, all other structures of the unmanned aerial vehicle 100 do not block the field of view of the first fisheye lens 521 and the second fisheye lens 523 and affect the panoramic shooting effect, the first fisheye lens 521 has a first field of view area Q1, the second fisheye lens 523 has a second field of view area Q2, and the first field of view area Q1 and the second field of view area Q2 intersect to form a field of view blind area Q3. When the unmanned aerial vehicle 100 is in the flight state, the at least three support portions 14 are located in the field of view blind area Q3. When the unmanned aerial vehicle 100 is in the flight state, the movable support portion 141 is in the first position, and the at least three support portions 14 (as shown in FIG. 3) are located in the field of view blind area Q3, that is, the at least three support portions 14 are not in the field of view of the second fisheye lens 523 and the first fisheye lens 521, and do not affect the panoramic shooting effect of the second fisheye lens 523 and the first fisheye lens 521. In this embodiment, when the movable support portion 141 is in the second position, at this time, the unmanned aerial vehicle 100 can be in a stationary state, and at least one support portion 14 is located outside the field of view blind area Q3 or at least one support portion 14 is located in the first field of view area Q1 and the second field of view area Q2, to ensure stable support of the unmanned aerial vehicle 100 in the stationary state and to ensure that the second fisheye lens 523 does not contact the placement plane and is not damaged due to collision. In other embodiments, in the case where the second fisheye lens 523 does not contact the placement plane in the stationary state, the at least three support portions 14 can also be located in the field of view blind area Q3, further avoiding the influence of the support portions 14 on the panoramic shooting effect of the first fisheye lens 521 and the second fisheye lens 523.

[0138] To reduce the influence on the panoramic shooting quality of the image acquisition device 50, in this embodiment, when the folding arm 15 is in the unfolded state, the folding arm 15 and the power device 30 thereon are located in the field of view blind area Q3, the folding landing gear 13 is located in the field of view blind area Q3 in the folded state, and the machine body 12 is also located in the field of view blind area Q3. In some embodiments, when the folding landing gear 13 is in the supporting state, the free end 1343 is located in the second field of view area Q2.

[0139] The specific angles of the field of view FOV1 of the first fisheye lens 521 and the field of view FOV2 of the second fisheye lens 523 are not limited in the specification, for example, the angle of the field of view FOV1 of the first fisheye lens 521 can fall into any one of the following angle ranges: (180°, 190°], [190°, 200°], [200°, 220°], [220°, 240°]. For example, the angle of the field of view FOV1 of the first fisheye lens 521 can be 185°, 190°, 195°, 200°, 210°, 215°, 220°, 230°, 240°, etc. The angle of the field of view FOV2 of the second fisheye lens 523 can fall into any one of the following angle ranges: (180°, 190°], [190°, 200°], [200°, 220°], [220°, 240°]. The angle of the field of view FOV2 of the second fisheye lens 523 can be 185°, 190°, 195°, 200°, 210°, 215°, 220°, 230°, 240°, etc. The angle of the field of view FOV2 of the second fisheye lens 523 can be the same as or different from the angle of the field of view FOV1 of the first fisheye lens 521, for example, when the field of view FOV1 of the first fisheye lens 521 is 190°, the field of view FOV2 of the second fisheye lens 523 can be 200°, 210°, 215°, etc.

[0140] The first field of view region Q1 and the second field of view region Q2 intersect to form an overlapping region Q4, and the angle of the overlapping region Q4 can fall into any one of the following angle ranges: (0°, 5°], [5°, 10°], [10°, 20°], [20°, 40°], [40°, 60°]. For example, the angle of the overlapping region Q4 can be 1°, 2°, 3°, 4°, 5°, 6°, 7°, 8°, 9°, 10°, 15°, 20°, 30°, 40°, 50°, 60°, etc.

[0141] As described above, the plurality of arms 154 can be rotated relative to the body 12 to a folded state, in order to further reduce the occupied space of the unmanned aerial vehicle 100 when being stored, as shown in FIG. 4 and FIG. 18, the left front arm 1542 and the left rear arm 1546 are arranged side by side on the same side of the body 12 along the yaw axis, and the right front arm 1544 and the right rear arm 1548 are arranged side by side on the other side of the body 12 along the yaw axis. That is, there is a height difference between the left front rotor 342 at the nose end 101, the right front rotor 344 and the left rear rotor 346 and the right rear rotor 348 at the tail end 103. When the folded arm 15 is in an unfolded state, the projection of the flapping area of the propeller 34 on the first axis O3 falls between the first highest point C1 and the second highest point C2, in order to compress the projection distance between the first highest point C1 and the second highest point C2 on the first axis O3, the first axis O3 is inclined.

[0142] Specifically, the first axis O3 and the yaw axis Y intersect, the first fisheye lens 521 is tilted towards the tail end 103, and the second fisheye lens 523 is tilted towards the head end 101. The distance between the projections of the first highest point C1 and the second highest point C2 on the first axis O3 is shortened, on the one hand, the volume and weight upper limit of the whole unmanned aerial vehicle 100 are compressed, and the unmanned aerial vehicle 100 tends to be lightweight, on the other hand, the stitching radius of the first field of view region Q1 and the second field of view region Q2 is reduced, and the stitching imaging quality is improved. The present specification does not limit the specific range of the angle between the first axis O3 and the yaw axis Y, and the angle between the first axis O3 and the yaw axis Y can fall within any one of the following angle ranges: (0°, 3°], [3°, 6°], [6°, 10°], [10°, 20°], [20°, 35°]. For example, the angle between the first axis O3 and the yaw axis Y can be 1°, 2°, 3°, 4°, 5°, 6°, 7°, 8°, 9°, 10°, 15°, 20°, 23°, 35°, etc.

[0143] In the present embodiment, the first fisheye lens 521 has a first optical axis X1, and the second fisheye lens 523 has a second optical axis X2. The first optical axis X1 passes through the optical center of the first fisheye lens 521, and the second optical axis X2 passes through the optical center of the second fisheye lens 523. The present specification does not limit the specific positional relationship between the first optical axis X1 and the second optical axis X2. For example, the first optical axis X1 and the second optical axis X2 can be coaxial. When the first optical axis X1 and the second optical axis X2 are coaxial, the first axis O3, the first optical axis X1, and the second optical axis X2 are collinear, and the first highest point C1 and the second highest point C2 are also collinear. Alternatively, the first optical axis X1 and the second optical axis X2 can be parallel to each other, and the distance between the first optical axis X1 and the second optical axis X2 falls within any one of the following distance ranges: (0mm, 1mm], [1mm, 5mm], [5mm, 10mm], [10mm, 20mm], [20mm, 50mm], [50mm, 100mm]. The distance between the first optical axis X1 and the second optical axis X2 can be 1mm, 3mm, 5mm, 7mm, 8mm, 10mm, 13mm, 16mm, 20mm, etc.

[0144] In some embodiments, the first optical axis X1 and the second optical axis X2 can intersect or intersect in different planes, and the angle between the first optical axis X1 and the second optical axis X2 can fall within any one of the following angle ranges: (0°, 3°], [3°, 6°], [6°, 10°], [10°, 20°]. For example, the angle between the first optical axis X1 and the second optical axis X2 can be 1°, 2°, 3°, 4°, 5°, 6°, 7°, 8°, 9°, 10°, 15°, 20°, etc. Wherein, the "intersecting in different planes" can be understood as that the first optical axis X1 and the second optical axis X2 are not in the same plane, and when the first optical axis X1 is projected to the plane where the second optical axis X2 is located, the projection of the first optical axis X1 intersects with the second optical axis X2.

[0145] Please refer to FIG. 9 and FIG. 20 at the same time, in the embodiment, the image acquisition device 50 can further include a first obstacle avoidance module 54, and the first obstacle avoidance module 54 is arranged on the support 20. In the flight state, the first obstacle avoidance module 54 is located on the side of the fuselage 10 facing forward, and is used for identifying the environment and avoiding obstacles. The first obstacle avoidance module 54 can include at least two cameras, for example, the first obstacle avoidance module 54 can include two cameras, or can include three cameras, or can include four cameras. The at least two cameras combine obstacle avoidance, can perceive the distance and depth of the object, which helps to more accurately measure the distance between the obstacle, and the data processing of the first obstacle avoidance module 54 is the same dimension data processing, the fusion algorithm is relatively simple, reduces the operation burden, reduces the heat or avoids the stall. The first obstacle avoidance module 54 can include a first front camera 541 and a second front camera 543 arranged at intervals, and the first front camera 541 and the second front camera 543 are respectively connected to the support 20, so that the first obstacle avoidance module 54 is placed outside the machine body 12 through the support 20, and is connected to the machine body 12 through the support 20 with a heat dissipation structure, reducing the heat dissipation demand in the machine body 12, while being able to fully utilize the external airflow to dissipate heat for the first obstacle avoidance module 54. The first front camera 541 and the second front camera 543 are located on the same side of the panoramic module 52. In some embodiments, the first obstacle avoidance module 54 can also be directly connected to the middle frame 123.

[0146] Please refer to FIG. 20 and FIG. 21 at the same time, the first obstacle avoidance module 54 is arranged on the heat conduction part 2121 of the support 20, and is located on the side of the heat conduction part 2121 away from the connecting frame 25. The heat conduction part 2121 can be provided with a lens mounting part 2141 for mounting the first front camera 541 and the second front camera 543. The number of lens mounting parts 2141 is two, and the two lens mounting parts 2141 are arranged at intervals along the direction of the yaw axis Y. At least part of the structure of the first front camera 541 and the second front camera 543 directly contacts with the heat conduction part 2121, which is convenient for heat dissipation during operation of the first obstacle avoidance module 54.

[0147] The heat-conducting portion 2121 can further be provided with a damping connecting portion 2143. At least two of the first mounting holes 211 on the mounting body 21 can be arranged on the damping connecting portion 2143. One of each group of second damping balls 232 is connected to the corresponding damping connecting portion 2143. The bracket 20, the panoramic module 52, and the first obstacle avoidance module 54 together form a panoramic shooting module. The panoramic shooting module is not only easy to disassemble and assemble, but also can simultaneously damp the panoramic module 52 and the first obstacle avoidance module 54, thereby improving the shooting effect. Meanwhile, the mounting body 21 can dissipate heat for the panoramic module 52 and the first obstacle avoidance module 54, thereby improving the heat dissipation performance of the panoramic module 52 and the first obstacle avoidance module 54.

[0148] Please also refer to FIGS. 3, 5, and 21. In this embodiment, the first front camera 541 and the second front camera 543 are respectively connected to the two lens mounting portions 2141. The first front camera 541 and the second front camera 543 are arranged along the yaw axis Y. The first front camera 541 has a third optical axis X3 (as shown in FIG. 24), and the second front camera 543 has a fourth optical axis X4. The third optical axis X3 and / or the fourth optical axis X4 intersect the first axis O3. For example, the third optical axis X3 and / or the fourth optical axis X4 can be perpendicular to the first axis O3. Alternatively, the third optical axis X3 and / or the fourth optical axis X4 are not perpendicular to the first axis O3. As an example, the angle between the third optical axis X3 and / or the fourth optical axis X4 and the first axis O3 can be 84°, 84.2°, 84.4°, 84.6°, 84.8°, 85°, 86°, 87°, 88°, 89°, etc.

[0149] The third optical axis X3 and / or the fourth optical axis X4 intersect the first face c. When the unmanned aerial vehicle 100 is in a hovering state, the direction of the unmanned aerial vehicle 100 horizontally facing forward is set as a first vector direction E3, and the direction of the first front camera 541 along the third optical axis X3 from the inside of the first front camera 541 to the light-receiving side of the first front camera 541 is set as a second vector direction E4. When the first vector direction E3 and the second vector direction E4 are constructed with the optical center of the first front camera 541 as the base point (both the first vector direction E3 and the second vector direction E4 pass through the optical center), the first vector direction E3 and the second vector direction E4 intersect. Further, the second vector direction E4 is located above the first vector direction E3 in space. The angle between the first vector direction E3 and the second vector direction E4 falls within any one of the following angle ranges: [0°, 3°], [3°, 6°], [6°, 10°], [10°, 20°], [20°, 35°]. For example, the angle between the first vector direction and the second vector direction can be 1°, 2°, 3°, 4°, 5°, 6°, 7°, 8°, 9°, 10°, 15°, 20°, 25°, 30°, 35°, etc.

[0150] The third optical axis X3 and / or the fourth optical axis X4 intersects the first surface c so that the light receiving side of the first front camera 541 and the second front camera 543 faces obliquely upward (a second vector direction) of the UAV 100 when the UAV 100 is in a hovering state. When the UAV 100 is in a forward flight state, the light receiving side of the first front camera 541 and the second front camera 543 faces forward (a first vector direction) of the UAV 100, and at this time, the third optical axis X3 and / or the fourth optical axis X4 is parallel to the horizontal plane S.

[0151] Therefore, the inclined arrangement feature of the third optical axis X3 and / or the fourth optical axis X4 in the embodiment increases the field of view angle of the first front camera 541 and / or the second front camera 543 when the UAV 100 is in a forward flight state, and realizes a larger obstacle avoidance sensing angle. Further, in the embodiment, the third optical axis X3 and / or the fourth optical axis X4 is perpendicular to the first axis O3, further increasing the obstacle avoidance sensing angle and optimizing the obstacle avoidance effect.

[0152] The present specification does not limit the specific positional relationship between the third optical axis X3 and the fourth optical axis X4. For example, the third optical axis X3 can be parallel to the fourth optical axis X4, or the third optical axis X3 and the fourth optical axis X4 can intersect or intersect in different planes. The present specification does not limit the specific range of the angle between the third optical axis X3 and the fourth optical axis X4. The angle between the third optical axis X3 and the fourth optical axis X4 can fall within any one of the following angle ranges: (0°, 3°], [3°, 6°], [6°, 10°], [10°, 20°]. For example, the angle between the third optical axis X3 and the fourth optical axis X4 can be 1°, 2°, 3°, 4°, 5°, 6°, 7°, 8°, 9°, 10°, 15°, 20°, etc.

[0153] Please refer to FIG. 9, FIG. 21 and FIG. 24, in the embodiment, the UAV 100 can further include an indicator light 40, the indicator light 40 is arranged on the bracket 20, and when the UAV 100 is in a forward flight state, the indicator light 40 is located on the side of the bracket 20 facing forward. In order to facilitate the installation of the indicator light 40 and the protection of the image acquisition device 50, in the embodiment, the bracket 20 can further include a front shell 29, and the indicator light 40 is installed on the front shell 29. The front shell 29 is connected to the side of the heat conduction part 2121 away from the connecting frame 25, and the front shell 29 is arranged at the nose end 101.

[0154] The specific structure of the front shell 29 is not limited in the specification, both ends of the front shell 29 can be provided with mounting notches to jointly form mounting holes for mounting the first fisheye lens 521 and the second fisheye lens 523 with the mounting notches of the protective shell 27, and the front shell 29 and the protective shell 27 improve the mounting stability of the first fisheye lens 521 and the second fisheye lens 523. The front shell 29 and the protective shell 27 jointly surround the outer periphery of the first fisheye lens 521 and / or the second fisheye lens 523. The angle of the front shell 29 and the protective shell 27 is not limited in the specification, for example, the central angle of the mounting notches of the protective shell 27 can be 60°, 90°, 180°, etc. In order to reduce the weight of the front shell 29, the shape of the front shell 29 can be protruded at the corresponding parts to accommodate the first front camera 541 and the second front camera 543 according to the positions and shapes of the first front camera 541 and the second front camera 543, and recessed at other parts to reduce the volume. The front shell 29 is provided with a recess hole corresponding to the positions of the first front camera 541 and the second front camera 543 to allow the first front camera 541 and the second front camera 543 to shoot.

[0155] The indicator light 40 is connected to the front shell 29 and located between the first front camera 541 and the second front camera 543, so that the indicator light 40, the image acquisition device 50 and the bracket 20 are modularly arranged. During installation, the image acquisition device 50 can be installed to the bracket 20 first, and then the indicator light 40 is installed to the bracket 20, so that the indicator light 40, the image acquisition device 50 and the bracket 20 form a whole semi-finished module, and then assembled to the body 12. The specific function of the indicator light 40 is not limited in the specification, for example, the indicator light 40 can be used to display the flight state. Specifically, the indicator light 40 is electrically connected to the mainboard 90, and the indicator light 40 includes one or more first light-emitting areas 41, the one or more first light-emitting areas 41 are used to display light effects corresponding to the flight state of the unmanned aerial vehicle 100 based on the instructions of the mainboard 90, and the one or more first light-emitting areas 41 can also be used to display light effects corresponding to the remaining power of the unmanned aerial vehicle 100. For example, when the unmanned aerial vehicle 100 is in the flight state, the first light-emitting area 41 displays green light effects, and when the unmanned aerial vehicle 100 is in the parking state, the first light-emitting area 41 displays yellow light effects.

[0156] In some embodiments, the indicator light 40 can also be used to display the battery power status. The indicator light 40 is electrically connected to the battery 80, and the indicator light 40 includes a plurality of second light-emitting areas 43 for displaying light effects corresponding to the battery power status of the battery 80. For example, the number of the second light-emitting areas 43 is set to five, and the five second light-emitting areas 43 are arranged side by side. When the battery power is between (80%, 100%], the five second light-emitting areas 43 emit light; when the battery power is between (60%, 80%], four second light-emitting areas 43 emit light; when the battery power is between (40%, 60%], three second light-emitting areas 43 emit light; when the battery power is between (20%, 40%], two second light-emitting areas 43 emit light; and when the battery power is between (0, 20%], one second light-emitting area 43 emits light.

[0157] In the embodiment, the unmanned aerial vehicle 100 can further include a magnetometer 120 mounted on the bracket 20. The bracket 20 is located at the nose end 101, and the magnetometer 120 is mounted away from the components inside the body 12, thereby reducing the influence of the magnetic field generated by the components inside the body 12 and improving the accuracy of the magnetometer 120.

[0158] Referring to FIG. 25, the embodiment of the present application further provides a panoramic photographing aerial vehicle 200 having a yaw axis Y, and the panoramic photographing aerial vehicle 200 includes a body 10, a power device 30, a bracket 20, and an image acquisition device 50. The power device 30 is arranged on the body 10 and is used to provide power for flight of the panoramic photographing aerial vehicle 200. The bracket 20 is connected to the body 10. The image acquisition device 50 includes a panoramic module 52 and a binocular obstacle avoidance module 54, and the panoramic module 52 and the binocular obstacle avoidance module 54 are arranged on the bracket 20. The panoramic module 52 includes a first fisheye lens 521 and a second fisheye lens 523, and the first fisheye lens 521 and the second fisheye lens 523 are respectively located on two sides of the body 10 away from each other. The field of view of the first fisheye lens 521 and the second fisheye lens 523 overlaps to obtain a panoramic image. The binocular obstacle avoidance module 54 includes a first front camera 541 and a second front camera 543, and the first front camera 541 and the second front camera 543 are arranged on the bracket 20 and are arranged along the yaw axis Y.

[0159] The panoramic photographing aerial vehicle 200 in the embodiment can have one or more features of the unmanned aerial vehicle 100 provided in any one of the above embodiments, and the features of the unmanned aerial vehicle 100 provided in any one of the above embodiments can be combined into the panoramic photographing aerial vehicle 200 without conflict; for example, the fuselage 10 in the embodiment can include one or more features of the fuselage 10 described above, and the fuselage 10 can include the folding arm 15, the folding landing gear 13 and other structures of the fuselage 10 described above. The power device 30 referred to in the embodiment can be understood as the power device 30 provided in any one of the above embodiments, and has one or more features of the power device 30 described above. The bracket 20 referred to in the embodiment can be understood as the bracket 20 provided in any one of the above embodiments, and has one or more features of the bracket 20 described above. The first fisheye lens 523 referred to in the embodiment can be understood as the first fisheye lens 521 provided in any one of the above embodiments, and has one or more features of the first fisheye lens 521 described above. The second fisheye lens 523 referred to in the embodiment can be understood as the second fisheye lens 523 provided in any one of the above embodiments, and has one or more features of the second fisheye lens 523 described above. The binocular obstacle avoidance module 54 referred to in the embodiment can be understood as the binocular obstacle avoidance module 54 provided in any one of the above embodiments, and has one or more features of the binocular obstacle avoidance module 54 described above.

[0160] Referring to FIG. 26, the application also provides an unmanned aerial vehicle 300, which can include a fuselage 10, a power device 30, a bracket 20 and a panoramic module 52. The power device 30 is arranged on the fuselage 10, and is configured to provide power for flight of the unmanned aerial vehicle 300. The bracket 20 is connected to the fuselage 10. The panoramic module 52 includes a first fisheye lens 521 and a second fisheye lens 523, which are respectively connected to the bracket 20 and the fuselage 10 through the bracket 50; and a virtual connection of optical centers of the first fisheye lens 521 and the second fisheye lens 523 forms a first axis O3, which intersects with a yaw axis Y.

[0161] The unmanned aerial vehicle 300 in the embodiment can have one or more features of the unmanned aerial vehicle 100 provided in any one of the above embodiments, and the features of the unmanned aerial vehicle 100 provided in any one of the above embodiments can be combined into the unmanned aerial vehicle 300 in the embodiment without conflict; for example, the fuselage 10 in the embodiment can include one or more features of the fuselage 10 provided in any one of the above embodiments, and specifically, for example, the fuselage 10 can include the folding arm 15, the folding landing gear 13 and the like of the fuselage 10 described above. The power device 30 in the embodiment can be understood as the power device 30 provided in any one of the above embodiments, and has one or more features of the power device 30 described above. The support 20 in the embodiment can be understood as the support 20 provided in any one of the above embodiments, and has one or more features of the support 20 described above. The panoramic module 52 in the embodiment can be understood as the panoramic module 52 provided in any one of the above embodiments, and has one or more features of the panoramic module 52 described above.

[0162] The unmanned aerial vehicle 100 provided in the embodiment of the present application can provide power for the unmanned aerial vehicle 100 to fly when in use, so that the unmanned aerial vehicle 100 is in a flight state. The first fisheye lens 521 and the second fisheye lens 523 are respectively arranged on both sides of the body 12, i.e., at the top and bottom of the body 12, and are used to acquire panoramic images. When the unmanned aerial vehicle 100 is in the flight state, the movable support 141 is located at the first position, and the at least three supports 14 jointly define a reference plane a, which is higher than the lowest point of the second fisheye lens 523, thereby reducing the possibility that the three supports 14 enter the field of view of the second fisheye lens 523. When the power device 30 drives the unmanned aerial vehicle 100 to switch to a stationary state, the movable support 141 is located at the second position, and the at least three supports 14 jointly define a support plane b, which is located on the side of the second fisheye lens 523 away from the first fisheye lens 521. When the unmanned aerial vehicle 100 is placed on a placement plane, the support plane b defined by the at least three supports 14 coincides with the placement plane, and the second fisheye lens 523 is located above the support plane b, i.e., the second fisheye lens 523 will not be in contact with or collide with the placement plane to be damaged.

[0163] The unmanned aerial vehicle 100 provided in the embodiment of the present application can acquire panoramic images when in the flight state, and can also protect the second fisheye lens 523 when in the stationary state, thereby reducing the possibility that the second fisheye lens 523 is damaged by being in contact with or colliding with the placement plane, and thereby improving the service life of the second fisheye lens 523.

[0164] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples without contradiction.

[0165] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features. And these modifications or replacements do not drive the essence of the corresponding technical solutions out of the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An unmanned aerial vehicle, comprising: The unmanned aerial vehicle has a yaw axis, and the unmanned aerial vehicle comprises: a fuselage (10) comprising a body (12) and a folding arm (15) connected to the body (12), the folding arm (15) being movable relative to the body (12) to assume an unfolded state or a folded state; a power device (30) arranged on the folding arm (15) and configured to provide power for flight of the unmanned aerial vehicle; and a panoramic module (52) arranged on the fuselage (10), the panoramic module (52) comprising a first fisheye lens (521) and a second fisheye lens (523), the first fisheye lens (521) and the second fisheye lens (523) being arranged on opposite sides of the fuselage (10) respectively, the first fisheye lens (521) having a field of view angle greater than 180°, and the second fisheye lens (523) having a field of view angle greater than 180°, a virtual connection line of optical centers of the first fisheye lens (521) and the second fisheye lens (523) forming a first axis, and the first axis intersecting the yaw axis.

2. The unmanned aerial vehicle of claim 1, wherein, The first fisheye lens (521) comprises a first convex lens (5212), the optical center of the first fisheye lens (521) being the optical center of the first convex lens (5212), and the first convex lens (5212) having a first highest point protruding relative to the body (12); The second fisheye lens (523) comprises a second convex lens (5232), the optical center of the second fisheye lens (523) being the optical center of the second convex lens (5232), and the second convex lens (5232) having a second highest point protruding relative to the body (12); and the first highest point and the second highest point are both located on the first axis.

3. The unmanned aerial vehicle of claim 2, wherein, When the folding arm (15) assumes the unfolded state, a projection of the fuselage (10) on the first axis falls between the first highest point and the second highest point.

4. The unmanned aerial vehicle of claim 2 or 3, wherein, The power device (30) comprises a driving member (32) and a propeller (34), the driving member (32) being connected between the folding arm (15) and the propeller (34), and when the folding arm (15) assumes the unfolded state, a projection of a flapping region of the propeller (34) on the first axis falls between the first highest point and the second highest point.

5. The unmanned aerial vehicle of any of claims 2-4, wherein, The fuselage (10) further comprises a folding landing gear (13) connected to the body (12), the folding landing gear (13) being movable relative to the body (12) to assume a supporting state or a retracted state; and when the folding landing gear (13) assumes the retracted state, a projection of the folding landing gear (13) on the first axis falls between the first highest point and the second highest point.

6. The unmanned aerial vehicle of any one of claims 1-4, wherein, The first fisheye lens (521) has a first field of view region, the second fisheye lens (523) has a second field of view region, and the first field of view region and the second field of view region intersect to form a field of view blind area. The folding machine arm (15) is in the unfolded state, and the folding machine arm (15) and the power device (30) are located in the field-of-view blind area.

7. The unmanned aerial vehicle of claim 6, wherein, The fuselage (10) further comprises a folding landing gear (13) connected to the machine body (12), the folding landing gear (13) being movable relative to the machine body (12) to assume a supporting state or a retracted state; the folding landing gear (13) is in the retracted state and is located in the field-of-view blind area.

8. The unmanned aerial vehicle of claim 7, wherein, When the unmanned aerial vehicle is in flight, the second fisheye lens (523) is located on the side of the machine body (12) facing the ground, the folding landing gear (13) has a connected end (1341) and a free end (1343), the connected end (1341) is connected to the machine body (12), and when the folding landing gear (13) moves relative to the machine body (12), the free end (1343) can move away from or approach the machine body (12); when the folding landing gear (13) is in the supporting state, the free end (1343) is located in the second field-of-view area.

9. The unmanned aerial vehicle of any one of claims 1-8, wherein, The angle between the first axis and the yaw axis falls within any one of the following angle ranges: (0°, 3°], [3°, 6°], [6°, 10°], [10°, 20°], [20°, 35°].

10. The unmanned aerial vehicle of any of claims 1-9, wherein, The first fisheye lens (521) has a first optical axis, and the second fisheye lens (523) has a second optical axis, and the first optical axis and the second optical axis are coaxial.

11. The unmanned aerial vehicle of any of claims 1-10, wherein, The first fisheye lens (521) has a first optical axis, and the second fisheye lens (523) has a second optical axis, and the first optical axis and the second optical axis are parallel, and the distance between the first optical axis and the second optical axis falls within any one of the following distance ranges: (0mm, 1mm], [1mm, 5mm], [5mm, 10mm], [10mm, 20mm], [20mm, 50mm], [50mm, 100mm].

12. The unmanned aerial vehicle of any of claims 1-11, wherein, The first fisheye lens (521) has a first optical axis, and the second fisheye lens (523) has a second optical axis, and the first optical axis and the second optical axis intersect or intersect in different planes.

13. The unmanned aerial vehicle of claim 12, wherein, The angle between the first optical axis and the second optical axis falls within any one of the following angle ranges: (0°, 3°], [3°, 6°], [6°, 10°], [10°, 20°].

14. The unmanned vehicle of any of claims 1-13, wherein, The unmanned aerial vehicle further comprises a first obstacle avoidance module (54), and the first obstacle avoidance module (54) comprises at least two cameras arranged on the fuselage (10).

15. The unmanned aerial vehicle of claim 14, wherein, The first obstacle avoidance module (54) comprises a first front camera (541) and a second front camera (543), and the first front camera (541) and the second front camera (543) are arranged on the fuselage (10) and arranged along the yaw axis.

16. The unmanned aerial vehicle of claim 15, wherein, The first front camera (541) has a third optical axis, and the second front camera (543) has a fourth optical axis, and the third optical axis and / or the fourth optical axis intersect the first axis.

17. The unmanned aerial vehicle of claim 16, wherein, The third optical axis and / or the fourth optical axis is perpendicular to the first axis.

18. The unmanned aerial vehicle of any of claims 15-17, wherein, The first front camera (541) has a third optical axis, the second front camera (543) has a fourth optical axis, and the pitch axis and the roll axis of the unmanned aerial vehicle jointly define a first plane, and the third optical axis and / or the fourth optical axis intersects the first plane.

19. The unmanned aerial vehicle of any one of claims 15-17, wherein, The first front camera (541) has a third optical axis, the second front camera (543) has a fourth optical axis, and the third optical axis is parallel to the fourth optical axis.

20. The unmanned aerial vehicle of any one of claims 15-17, wherein, The first front camera (541) has a third optical axis, the second front camera (543) has a fourth optical axis, and the third optical axis intersects the fourth optical axis or intersects the fourth optical axis.

21. The unmanned aerial vehicle of any of claims 1-20, wherein, The fuselage (10) is provided with a nose end (101) at the front end in the forward flight direction of the unmanned aerial vehicle, and the first obstacle avoidance module (54) is arranged at the nose end (101).

22. A panoramic taking aerial vehicle, wherein, The panoramic photographing aerial vehicle has a yaw axis, and the panoramic photographing aerial vehicle comprises: a fuselage (10); a power device (30) arranged on the fuselage (10), the power device (30) being used for providing power for flight of the panoramic photographing aerial vehicle; a support (20) connected to the fuselage (10); and an image acquisition device (50), the image acquisition device (50) comprising a panoramic module (52) and a binocular obstacle avoidance module (54), the panoramic module (52) and the binocular obstacle avoidance module (54) being arranged on the support (20), the panoramic module (52) comprising a first fisheye lens (521) and a second fisheye lens (523), the first fisheye lens (521) and the second fisheye lens (523) being respectively located on two sides of the fuselage (10) away from each other, and the field of view range of the first fisheye lens (521) and the second fisheye lens (523) overlapping to obtain a panoramic image; the binocular obstacle avoidance module (54) comprising a first front camera (541) and a second front camera (543), the first front camera (541) and the second front camera (543) being arranged on the support (20), and the first front camera (541) and the second front camera (543) being arranged along the yaw axis.

23. The unmanned aerial vehicle of claim 22, wherein, A virtual connection line of the optical center of the first fisheye lens (521) and the optical center of the second fisheye lens (523) forms a first axis, the first fisheye lens (521) comprises a first convex lens (5212), the optical center of the first fisheye lens (521) is the optical center of the first convex lens (5212), and the first convex lens (5212) has a first highest point protruding relative to the machine body (12). The second fisheye lens (523) comprises a second convex lens (5232), the optical center of the second fisheye lens (523) is the optical center of the second convex lens (5232), and the second convex lens (5232) has a second highest point protruding relative to the machine body (12); and the first highest point and the second highest point are both located on the first axis.

24. The unmanned aerial vehicle of claim 23, wherein, The fuselage (10) comprises a machine body (12) and a folding machine arm (15) connected to the machine body (12), the folding machine arm (15) being movable relative to the machine body (13) to assume an unfolded state or a folded state, the folding machine arm (15) assuming the unfolded state, a projection of the fuselage (10) on the first axis falls between the first highest point and the second highest point.

25. The unmanned aerial vehicle of claim 24, wherein, The power device (30) comprises a driving member (32) and a propeller (34), the driving member (32) being connected between the folding machine arm (15) and the propeller (34), the folding machine arm (15) assuming the unfolded state, a projection of a flapping area of the propeller (34) on the first axis falls between the first highest point and the second highest point.

26. The unmanned aerial vehicle of claim 24 or 25, wherein, The fuselage (10) further comprises a folding landing gear (13) connected to the machine body (12), the folding landing gear (13) being movable relative to the machine body (12) to assume a supporting state or a retracted state; the folding landing gear (13) assuming the retracted state, a projection of the folding landing gear (13) on the first axis falls between the first highest point and the second highest point.

27. The unmanned aerial vehicle of any one of claims 24 or 25, wherein, The first fisheye lens (521) has a first field of view area, the second fisheye lens (523) has a second field of view area, the first field of view area and the second field of view area intersect to form a field of view blind area; The folding machine arm (15) and the power device (30) are both located in the field of view blind area when the folding machine arm (15) assumes the unfolded state.

28. The unmanned aerial vehicle of claim 27, wherein, The fuselage (10) further comprises a folding landing gear (13) connected to the machine body (12), the folding landing gear (13) being movable relative to the machine body (12) to assume a supporting state or a retracted state; the folding landing gear (13) assuming the retracted state, a projection of the folding landing gear (13) on the first axis falls between the first highest point and the second highest point.

29. The unmanned aerial vehicle of claim 28, wherein, When the unmanned aerial vehicle is in a flight state, the second fisheye lens (523) is located on a side of the machine body (12) facing the ground, the folding landing gear (13) has a connected end (1341) and a free end (1343), the connected end (1341) is connected to the machine body (12), the free end (1343) can be relatively far away or close to the machine body (12) when the folding landing gear (13) moves relative to the machine body (12); the free end (1343) is located in the second field of view area when the folding landing gear (13) assumes the supporting state.

30. The unmanned vehicle of any one of claims 23-29, wherein, An angle between the first axis and the yaw axis falls within any one of the following angle ranges: (0°, 3°], [3°, 6°], [6°, 10°], [10°, 20°], [20°, 35°].

31. The unmanned vehicle of any of claims 23-30, wherein, The first fisheye lens (521) has a first optical axis, and the second fisheye lens (523) has a second optical axis, the first optical axis and the second optical axis are coaxial.

32. The unmanned vehicle of any of claims 23-30, wherein, The first fisheye lens (521) has a first optical axis, the second fisheye lens (523) has a second optical axis, the first optical axis and the second optical axis are parallel, and a distance between the first optical axis and the second optical axis falls into any one of the following distance ranges: (0mm, 1mm], [1mm, 5mm], [5mm, 10mm], [10mm, 20mm], [20mm, 50mm], [50mm, 100mm].

33. The unmanned vehicle of any of claims 23-30, wherein, The first fisheye lens (521) has a first optical axis, the second fisheye lens (523) has a second optical axis, the first optical axis and the second optical axis are parallel, and a distance between the first optical axis and the second optical axis falls into any one of the following distance ranges: (0mm, 1mm], [1mm, 5mm], [5mm, 10mm], [10mm, 20mm], [20mm, 50mm], [50mm, 100mm].

34. The unmanned aerial vehicle of claim 33, wherein, An angle of an included angle between the first optical axis and the second optical axis falls into any one of the following angle ranges: (0°, 3°], [3°, 6°], [6°, 10°], [10°, 20°].

35. The unmanned vehicle of any of claims 23-34, wherein, The first front camera (541) has a third optical axis, and the second front camera (543) has a fourth optical axis, and the third optical axis and / or the fourth optical axis intersects with the first axis.

36. The unmanned aerial vehicle of claim 35, wherein, The third optical axis and / or the fourth optical axis is perpendicular to the first axis.

37. The unmanned vehicle of any of claims 23-36, wherein, The first front camera (541) has a third optical axis, and the second front camera (543) has a fourth optical axis, and a pitch axis and a roll axis of the unmanned aerial vehicle jointly define a first plane, and the third optical axis and / or the fourth optical axis intersects with the first plane.

38. The unmanned vehicle of any of claims 23-37, wherein, The first front camera (541) has a third optical axis, and the second front camera (543) has a fourth optical axis, and the third optical axis is parallel to the fourth optical axis.

39. The unmanned vehicle of any of claims 23-37, wherein, The first front camera (541) has a third optical axis, and the second front camera (543) has a fourth optical axis, and the third optical axis intersects with the fourth optical axis or intersects with the fourth optical axis in a different plane.

40. The unmanned vehicle of any of claims 22-39, wherein, The machine body (10) is provided with a nose end (101) at an end in front of the unmanned aerial vehicle in a forward flight direction, and the binocular obstacle avoidance module (54) is arranged on the nose end (101).

41. An unmanned aerial vehicle, comprising: The unmanned aerial vehicle comprises: a machine body (10); a power device (30) arranged on the machine body (10), the power device (30) being configured to provide power for flight of the unmanned aerial vehicle; a support (20) connected to the machine body (10); and a panoramic module (52), the panoramic module (52) comprising a first fisheye lens (521) and a second fisheye lens (523), the first fisheye lens (521) and the second fisheye lens (523) being respectively connected to the support (20) and connected to the machine body (10) through the support (20); a virtual connecting line of an optical center of the first fisheye lens (521) and an optical center of the second fisheye lens (523) forms a first axis, and the first axis intersects with the yaw axis.

42. The unmanned aerial vehicle of claim 41, wherein, The first fisheye lens (521) comprises a first convex lens (5212), an optical center of the first fisheye lens (521) is an optical center of the first convex lens (5212), and the first convex lens (5212) has a first highest point protruding relative to the machine body (12). The second fisheye lens (523) comprises a second convex lens (5232), an optical center of the second fisheye lens (523) is an optical center of the second convex lens (5232), and the second convex lens (5232) has a second highest point protruding relative to the machine body (12); the first highest point and the second highest point are both located on the first axis.

43. The unmanned aerial vehicle of claim 42, wherein, The machine body (10) comprises a machine body (12) and a folding machine arm (15), the folding machine arm (15) is connected to the machine body (12), and the folding machine arm (15) is movable relative to the machine body (13) to be in an unfolded state or a folded state; when the folding machine arm (15) is in the unfolded state, a projection of the machine body (10) on the first axis falls between the first highest point and the second highest point.

44. The unmanned aerial vehicle of claim 43, wherein, The power device (30) comprises a driving member (32) and a propeller (34), the driving member (32) is connected between the folding machine arm (15) and the propeller (34), and when the folding machine arm (15) is in the unfolded state, a projection of a flapping area of the propeller (34) on the first axis falls between the first highest point and the second highest point.

45. The unmanned aerial vehicle of claim 43 or 44, wherein, The machine body (10) further comprises a folding landing gear (13), the folding landing gear (13) is connected to the machine body (12), and the folding landing gear (13) is movable relative to the machine body (12) to be in a supporting state or a retracted state; when the folding landing gear (13) is in the retracted state, a projection of the folding landing gear (13) on the first axis falls between the first highest point and the second highest point.

46. The unmanned aerial vehicle of claim 43 or 44, wherein, The first fisheye lens (521) has a first field of view area, the second fisheye lens (523) has a second field of view area, and the first field of view area and the second field of view area intersect to form a field of view blind area; When the folding machine arm (15) is in the unfolded state, the folding machine arm (15) and the power device (30) are both located in the field of view blind area.

47. The unmanned aerial vehicle of claim 46, wherein, The machine body (10) further comprises a folding landing gear (13), the folding landing gear (13) is connected to the machine body (12), and the folding landing gear (13) is movable relative to the machine body (12) to be in a supporting state or a retracted state; when the folding landing gear (13) is in the retracted state, the folding landing gear (13) is located in the field of view blind area.

48. The unmanned aerial vehicle of claim 47, wherein, When the unmanned aerial vehicle is in a flight state, the second fisheye lens (523) is located on a side of the machine body (12) facing the ground, the folding landing gear (13) has a connected end (1341) and a free end (1343), the connected end (1341) is connected to the machine body (12), and when the folding landing gear (13) moves relative to the machine body (12), the free end (1343) can move away from or close to the machine body (12); when the folding landing gear (13) is in the supporting state, the free end (1343) is located in the second field of view area.

49. The unmanned vehicle of any of claims 41-48, wherein, An angle between the first axis and the yaw axis falls into any one of the following angle ranges: (0°, 3°], [3°, 6°], [6°, 10°], [10°, 20°], [20°, 35°].

50. The unmanned vehicle of any of claims 41-49, wherein, The first fisheye lens (521) has a first optical axis, and the second fisheye lens (523) has a second optical axis, and the first optical axis and the second optical axis are coaxial.

51. The unmanned vehicle of any of claims 41-49, wherein, The first fisheye lens (521) has a first optical axis, and the second fisheye lens (523) has a second optical axis, and the first optical axis and the second optical axis are parallel, and a distance between the first optical axis and the second optical axis falls into any one of the following distance ranges: (0mm, 1mm], [1mm, 5mm], [5mm, 10mm], [10mm, 20mm], [20mm, 50mm], [50mm, 100mm].

52. The unmanned vehicle of any of claims 41-49, wherein, The first fisheye lens (521) has a first optical axis, and the second fisheye lens (523) has a second optical axis, and the first optical axis and the second optical axis intersect or intersect in different planes.

53. The unmanned aerial vehicle of claim 52, wherein, An angle between the first optical axis and the second optical axis falls into any one of the following angle ranges: (0°, 3°], [3°, 6°], [6°, 10°], [10°, 20°].

54. The unmanned vehicle of any of claims 41-53, wherein, The unmanned vehicle further comprises a first obstacle avoidance module (54), and the first obstacle avoidance module (54) comprises at least two cameras arranged on the fuselage (10).

55. The unmanned aerial vehicle of claim 54, wherein, The first obstacle avoidance module (54) comprises a first front camera (541) and a second front camera (543), and the first front camera (541) and the second front camera (543) are arranged on the fuselage (10) and arranged along the yaw axis.

56. The unmanned aerial vehicle of claim 55, wherein, The first front camera (541) has a third optical axis, and the second front camera (543) has a fourth optical axis, and the third optical axis and / or the fourth optical axis intersects the first axis.

57. The unmanned aerial vehicle of claim 56, wherein, The third optical axis and / or the fourth optical axis is perpendicular to the first axis.

58. The unmanned vehicle of any of claims 55-57, wherein, The first front camera (541) has a third optical axis, and the second front camera (543) has a fourth optical axis, and the pitch axis and the roll axis of the unmanned vehicle jointly define a first plane, and the third optical axis and / or the fourth optical axis intersects the first plane.

59. The unmanned vehicle of any of claims 55-58, wherein, The first front camera (541) has a third optical axis, and the second front camera (543) has a fourth optical axis, and the third optical axis is parallel to the fourth optical axis.

60. The unmanned vehicle of any of claims 55-58, wherein, The first front camera (541) has a third optical axis, and the second front camera (543) has a fourth optical axis, and the third optical axis intersects or intersects in different planes with the fourth optical axis.

61. The unmanned vehicle of any of claims 54-60, wherein, The fuselage (10) is provided with a nose end (101) at one end in front of the unmanned vehicle in the forward flight direction, and the first obstacle avoidance module (54) is arranged on the nose end (101).

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