Unmanned aerial vehicle and flight system
By setting up three camera modules on the drone in a triangular distribution, the problems of stereo matching ambiguity and depth measurement error in the binocular stereo matching perception scheme are solved, realizing all-round multi-view perception coverage and improving the perception accuracy and application range of the drone in complex environments.
Patent Information
- Application Number
- CN202520827738.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-28
- Publication Date
- 2026-02-27
- Estimated Expiration
- 2035-04-28
AI Technical Summary
Existing drones using binocular stereo matching perception solutions suffer from stereo matching ambiguity and depth measurement errors. In particular, when linear obstacles are coplanar with the binocular baseline, they cannot accurately perceive the position and depth of objects such as power lines, increasing the risk of collisions and limiting their application in specific scenarios.
The drone adopts a three-camera module layout, forming a triangular distribution, including a first camera module, a second camera module, and a third camera module, which constitutes a multi-view perception solution. By acquiring image information from multiple angles, it reduces depth measurement errors caused by inaccurate parallax information.
It improves the depth perception capability and accuracy of UAVs in complex environments, solves the drawback of the failure of the binocular method in specific scenarios, achieves all-round multi-view perception coverage, and enhances the adaptability of UAVs in application scenarios such as power line inspection.
Smart Images
Figure CN223949391U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The embodiment of the present application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle and a flight system. BACKGROUND
[0002] At present, most unmanned aerial vehicles use a binocular stereo matching perception scheme to perceive the surrounding environment, and the depth of objects in a scene is inferred by analyzing the parallax information in images captured from two cameras, and then the three-dimensional structure of the scene is reconstructed.
[0003] However, this binocular stereo matching perception scheme has some inherent limitations. First, since a point can be observed by at most two cameras, there may be ambiguity when performing stereo matching, resulting in large depth measurement errors or even failure. This problem is particularly evident in certain specific scenarios, for example, in power line inspection and other application scenarios, when a linear obstacle is coplanar with the binocular baseline (the line connecting the optical centers of the two cameras). In this case, since the linear obstacle coincides with the epipolar line in the image, and the linear obstacle usually lacks texture, the stereo matching algorithm will find many ambiguous matching points when searching along the epipolar line, and accurate results cannot be obtained. The unmanned aerial vehicle may not be able to accurately perceive the position and depth of the linear obstacle such as the power line, thereby increasing the risk of collision and limiting the application of the unmanned aerial vehicle in such scenarios. CONTENT OF THE UTILITY MODEL
[0004] The embodiment of the present application provides an unmanned aerial vehicle capable of reducing stereo matching ambiguity, improving depth measurement accuracy, solving the problem of failure of the binocular method in specific scenarios, and achieving all-around multi-view perception coverage.
[0005] One technical solution adopted by the embodiment of the present application is that the unmanned aerial vehicle comprises a body, a first camera module, a second camera module, and a third camera module. The body has a first part and a second part along a first direction, the first direction being the direction in which the unmanned aerial vehicle flies forward, and the first part being located in front of the second part. The first camera module is arranged on the first part of the body and located on a first side. The second camera module is arranged on the first part of the body and located on a second side, the first side and the second side being oppositely arranged in a second direction, and the second direction being perpendicular to the first direction. The third camera module is arranged on the first part of the body and located between the first side and the second side, and the first camera module, the second camera module, and the third camera module form a triangular distribution.
[0006] In some embodiments, along the first direction, the body has a first symmetry axis, the first camera module and the second camera module are arranged about the first symmetry axis, and the third camera module is located on the first symmetry axis.
[0007] In some embodiments, the machine body has a top and a bottom along the third direction, the first camera module, the second camera module and the third camera module are all arranged on the top, and the first direction, the second direction and the third direction are perpendicular to each other.
[0008] In some embodiments, the first camera module is tilted away from the second portion along the third direction, and an angle R1 between a projection of the first optical axis of the first camera module and a projection of the first reference line satisfies 25°≤R1≤65°, where the first reference line is parallel to the second direction; and / or, the second camera module is tilted away from the second portion along the third direction, and an angle R2 between a projection of the second optical axis of the second camera module and a projection of the second reference line satisfies 25°≤R2≤65°, where the second reference line is parallel to the second direction.
[0009] In some embodiments, the first camera module is tilted away from the bottom along the second direction, and an angle R3 between a projection of the first optical axis of the first camera module and a projection of the third reference line satisfies 0°≤R3≤40°, where the third reference line is parallel to the first direction; and / or, the second camera module is tilted away from the bottom along the second direction, and an angle R4 between a projection of the second optical axis of the second camera module and a projection of the fourth reference line satisfies 0°≤R4≤40°, where the fourth reference line is parallel to the first direction.
[0010] In some embodiments, 40°≤R1≤50°; and / or, 40°≤R2≤50°; and / or, 10°≤R3≤30°; and / or, 10°≤R4≤30°.
[0011] In some embodiments, the third camera module is tilted away from the second portion along the second direction, and an angle R51 between a projection of the third optical axis of the third camera module and a projection of the fifth reference line satisfies 0°<R51≤35°, where the fifth reference line is parallel to the third direction; or, the projection of the third optical axis of the third camera module is parallel to or coincides with the projection of the fifth reference line along the second direction; or, the third camera module is tilted towards the second portion along the second direction, and an angle R53 between a projection of the third optical axis of the third camera module and a projection of the fifth reference line satisfies 0°<R53≤10°, where the fifth reference line is parallel to the third direction.
[0012] In some embodiments, 5°<R51≤15°, or, 0°<R53≤5°.
[0013] In some embodiments, a first field of view angle F1 of the first camera module satisfies 160°≤F1≤220°; and / or, a second field of view angle F2 of the second camera module satisfies 160°≤F2≤220°; and / or, a third field of view angle F3 of the third camera module satisfies 160°≤F3≤220°.
[0014] In some embodiments, the UAV further comprises a fourth camera module, a fifth camera module, a sixth camera module and a seventh camera module arranged on the second part, the fourth camera module and the fifth camera module are symmetrically arranged on the top part about the first symmetry axis, the fourth camera module is located on the first side, and the fifth camera module is located on the second side, the sixth camera module and the seventh camera module are symmetrically arranged on the top part about the first symmetry axis, the sixth camera module is located on the first side, and the seventh camera module is located on the second side.
[0015] Another technical solution adopted by the embodiments of the present application is to provide a flight system comprising a control device and a UAV, the control device being in communication connection with the UAV, and the control device being configured to control the flight of the UAV.
[0016] The beneficial effects of the embodiments of the present application are that the UAV comprises a body, a first camera module, a second camera module and a third camera module. The body has a first part and a second part along a first direction, the first direction being the direction in which the UAV flies forward, the first part being located in front of the second part; the first camera module is arranged on the first part of the body and located on a first side; the second camera module is arranged on the first part of the body and located on a second side, the first side and the second side being oppositely arranged in a second direction, the second direction being perpendicular to the first direction; the third camera module is arranged on the first part of the body and located between the first side and the second side, the first camera module, the second camera module and the third camera module forming a triangular distribution. Through the above structure, the UAV can reduce the ambiguity of stereo matching, improve the depth measurement accuracy, solve the disadvantages of the failure of binocular method in specific scenarios, and realize omnidirectional multi-view perception coverage. BRIEF DESCRIPTION OF DRAWINGS
[0017] In order to more clearly illustrate the technical solutions in the specific embodiments of the present application, the drawings needed in the specific embodiment description will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn according to the actual proportions.
[0018] Figure 1 is a stereoscopic schematic view of the UAV of the embodiments of the present application;
[0019] Figure 2 is a schematic view of the UAV of the embodiments of the present application projected along a third direction;
[0020] Figure 3 is a schematic view of the UAV of the embodiments of the present application projected along a second direction;
[0021] Figure 4 is another schematic view of the UAV of the embodiments of the present application projected along the second direction;
[0022] Figure 5is a schematic view of the UAV of another embodiment of the present application projected along the second direction;
[0023] Figure 6 is a schematic view of the UAV of yet another embodiment of the present application projected along the second direction;
[0024] Figure 7 is another perspective schematic view of the UAV of an embodiment of the present application. DETAILED DESCRIPTION
[0025] In order to facilitate the understanding of the present application, the present application will be described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that when an element is described as being "fixed to" another element, it can be directly on the other element or one or more intervening elements can be present therebetween. When an element is described as being "connected to" another element, it can be directly connected to the other element or one or more intervening elements can be present therebetween. The terms "upper", "lower", "inner", "outer", "vertical", "horizontal", and the like as used in the present specification refer to the orientation or positional relationship shown in the drawings, and are merely used for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", and the like are merely used for the purpose of description and cannot be understood as indicating or implying relative importance.
[0026] Unless otherwise defined, all technical and scientific terms used in the present specification have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. The term "and / or" used in the present specification includes any and all combinations of one or more of the associated listed items.
[0027] In addition, the technical features involved in the different embodiments of the present application described below can be combined with each other as long as there is no conflict.
[0028] Please refer to Figures 1 to 3The embodiment of the present application provides a kind of unmanned plane 100, unmanned plane 100 includes body 10, first camera module 20, second camera module 30 and third camera module 40.Body 10 has first part 11 and second part 12 along the first direction X, the first direction X is the direction that unmanned plane 100 flies forward, first part 11 is located in front of second part 12, it can be understood as, the end of first part 11 away from second part 12 is the head of unmanned plane 100, the end of second part 12 away from first part 11 is the tail of unmanned plane 100.As an example, along the first direction X, body 10 is evenly divided into two parts with the total length of body 10 as the reference to constitute first part 11 and second part 12 respectively.
[0029] First camera module 20 is arranged in first part 11 and located in first side 13, second camera module 30 is arranged in first part 11 and located in second side 14, first side 13 and second side 14 are oppositely arranged in the second direction Y, and the second direction Y is perpendicular to the first direction X.Third camera module 40 is arranged in first part 11 and located between first side 13 and second side 14.First camera module 20, second camera module 30 and third camera module 40 constitute a triangular distribution.
[0030] The embodiment of the present application unmanned plane 100 can obtain image information from multiple angles by arranging three camera modules, improve the accuracy of depth perception, and reduce the depth measurement error caused by inaccurate parallax information.Specifically, first camera module 20 and second camera module 30 are arranged on the two sides of first part 11 of body 10, and third camera module 40 is located between the two, this layout makes any point in front of unmanned plane 100 be observed by at least three camera modules simultaneously during the flight of unmanned plane 100, and the three camera modules constitute a triangular structure, can form three groups of baseline non-parallel binocular cameras, so as to effectively reduce the ambiguity caused by linear obstacle (to be inspected wire) and binocular baseline parallel or coplanar, because when linear obstacle has ambiguity in one pair of binocular cameras, another pair of binocular cameras can eliminate ambiguity.
[0031] As an example, when there is a horizontal wire directly in front of unmanned plane 100, if only first camera module 20 and second camera module 30 form a first binocular camera, ambiguity will be caused due to the parallelism between horizontal wire and the baseline of the first binocular camera, resulting in depth estimation failure, however, first camera module 20 and third camera module 40 can form a second binocular camera, the baseline of the second binocular camera is not parallel to the horizontal wire, so the ambiguity can be eliminated.
[0032] In some embodiments, please refer to Figure 2, along the first direction X, the body 10 has a first symmetry axis M1, the first side 13 and the second side 14 of the body 10 are arranged in axial symmetry about the first symmetry axis M1, the first camera module 20 and the second camera module 30 are arranged symmetrically about the first symmetry axis M1, and the third camera module 40 is located on the first symmetry axis M1. By arranging multiple camera modules on the body 10 of the unmanned aerial vehicle 100, especially by arranging the first camera module 20 and the second camera module 30 symmetrically about the first symmetry axis M1 and locating the third camera module 40 on the first symmetry axis M1, the design can effectively improve the depth perception ability of the unmanned aerial vehicle 100 in a complex environment. Specifically, the symmetric arrangement of the first camera module 20 and the second camera module 30 enables the unmanned aerial vehicle 100 to obtain more balanced and comprehensive viewing angles in the left-right direction, and the location of the third camera module 40 on the first symmetry axis M1 further improves the perception accuracy of the unmanned aerial vehicle 100 in the front region.
[0033] In some embodiments, referring to Figure 3 , the body 10 has a top 15 and a bottom 16 along a third direction Z, the first camera module 20, the second camera module 30, and the third camera module 40 are all arranged on the top 15, and the first direction X, the second direction Y, and the third direction Z are perpendicular to each other.
[0034] In some embodiments, the first field of view angle F1 of the first camera module 20 satisfies: 160°≤F1≤220°; and / or, the second field of view angle F2 of the second camera module 30 satisfies: 160°≤F2≤220°; and / or, the third field of view angle F3 of the third camera module 40 satisfies: 160°≤F3≤220°. By using camera modules with larger field of view angles, a wider range can be observed and covered, thereby capturing more environmental information. As some examples, the first camera module 20, the second camera module 30, and the third camera module 40 can be ultra-wide-angle lenses, fisheye lenses, etc. By increasing the field of view angle of the camera module, the problems of stereo matching ambiguity and depth measurement error existing in the prior art are solved, especially in the application scenarios of power line inspection of the unmanned aerial vehicle 100, the depth perception ability and application range of the unmanned aerial vehicle 100 are improved.
[0035] In some embodiments, referring to Figure 1 and Figure 2, the first camera module 20 is inclined away from the second part 12, i.e., the first camera module 20 is in a forward-leaning state, and an included angle R1 between the projection of the first optical axis G1 of the first camera module 20 and the projection of the first reference line L1 satisfies: 25°≤R1≤65°, where the first reference line L1 is parallel to the second direction Y. As described above, the larger the field of view angle of the first camera module 20, the second camera module 30 and the third camera module 40, the wider the range of the view angle that can be covered. However, in the actual assembly and use process, for example, the edge distortion of the fisheye lens is large, and based on the manufacturing tolerance of the machine body 10 and the assembly tolerance of the camera module and the machine body 10, etc., the first camera module 20 can be appropriately set to be forward-leaning to ensure that the range of the view field in front of the unmanned aerial vehicle 100 is more when flying, effectively improving the coverage integrity and accuracy of the multi-group binocular camera composed of the first camera module 20, the second camera module 30 and the third camera module 40. Preferably, the included angle R1 between the projection of the first optical axis G1 of the first camera module 20 and the projection of the first reference line L1 satisfies: 40°≤R1≤50°. Further, the included angle R1 between the projection of the first optical axis G1 of the first camera module 20 and the projection of the first reference line L1 is 45 degrees.
[0036] Similarly, in some embodiments, along the third direction Z, the second camera module 30 is inclined away from the second part 12, i.e., the second camera module 30 is in a forward-leaning state, and an included angle R2 between the projection of the second optical axis G2 of the second camera module 30 and the projection of the second reference line L2 satisfies: 25°≤R2≤65°, where the second reference line L2 is parallel to the second direction Y. Through the above setting, the coverage integrity and accuracy of the multi-group binocular camera composed of the first camera module 20, the second camera module 30 and the third camera module 40 can be effectively improved. Preferably, the included angle R2 between the projection of the second optical axis G2 of the second camera module 30 and the projection of the second reference line L2 satisfies: 40°≤R2≤50°. Further, the included angle R2 between the projection of the second optical axis G2 of the second camera module 30 and the projection of the second reference line L2 is 45 degrees.
[0037] In some embodiments, referring to Figure 3 , along the second direction Y, the first camera module 20 is inclined away from the bottom 16, i.e., the first camera module 20 is in an upward-leaning state, and an included angle R3 between the projection of the first optical axis G1 of the first camera module 20 and the projection of the third reference line L3 satisfies: 0°≤R3≤40°, where the third reference line L3 is parallel to the first direction X.
[0038] In some embodiments, referring to Figure 4, the second camera module 30 is tilted away from the bottom 16, i.e. the second camera module 30 is in an upturned state, and the angle R4 between the projection of the second optical axis G2 of the second camera module 30 and the projection of the fourth reference line L4 satisfies: 0°≤R4≤40°, wherein the fourth reference line L4 is parallel to the first direction X. Since the third camera module 40 is arranged at the top 15 of the body 10 and between the first camera module 20 and the second camera module 30, appropriately upturning the first camera module 20 and the second camera module 30 helps to improve the coverage integrity and accuracy of the multi-group binocular camera composed of the first camera module 20, the second camera module 30 and the third camera module 40.
[0039] Preferably, the angle R3 between the projection of the first optical axis G1 of the first camera module 20 and the projection of the third reference line L3 satisfies: 10°≤R3≤30°, and the angle R4 between the projection of the second optical axis G2 of the second camera module 30 and the projection of the fourth reference line L4 satisfies: 10°≤R4≤30°. Further, the angle R3 between the projection of the first optical axis G1 of the first camera module 20 and the projection of the third reference line L3 satisfies: R3=20°, and the angle R4 between the projection of the second optical axis G2 of the second camera module 30 and the projection of the fourth reference line L4 satisfies: R4=20°.
[0040] In some embodiments, referring to Figures 4 to 6 , the third camera module 40 is arranged at the top 15 of the first part 11 of the body 10. Since the third camera module 40 has a large field of view, the attitude of the third camera module 40 can be set flexibly, for example, the third camera module 40 can be tilted forward, perpendicular to the top 15 or tilted backward, etc.
[0041] As an example, referring to Figure 4 , along the second direction Y, the third camera module 40 is tilted away from the second part 12, and the angle R51 between the projection of the third optical axis G3 of the third camera module 40 and the projection of the fifth reference line L5 satisfies: 0°<R51≤35°, wherein the fifth reference line L5 is parallel to the third direction Z. Preferably, the angle R51 between the projection of the third optical axis G3 of the third camera module 40 and the projection of the fifth reference line L5 satisfies: 5°<R51≤15°. Further, the angle R51 between the projection of the third optical axis G3 of the third camera module 40 and the projection of the fifth reference line L5 satisfies: R51=10°.
[0042] As an example, referring to Figure 5 , along the second direction Y, the projection of the third optical axis G3 of the third camera module 40 is parallel to or coincides with the projection of the fifth reference line L5.
[0043] As an example, referring to Figure 6, the third camera module 40 is tilted towards the second part 12, and the angle R53 between the projection of the third optical axis G3 of the third camera module 40 and the projection of the fifth reference line L5 satisfies: 0° < R53 ≤ 10°, wherein the fifth reference line L5 is parallel to the third direction Z. Preferably, the angle R53 between the projection of the third optical axis G3 of the third camera module 40 and the projection of the fifth reference line L5 satisfies: 0° < R53 ≤ 5°. Further, the angle R53 between the projection of the third optical axis G3 of the third camera module 40 and the projection of the fifth reference line L5 satisfies: R53 = 3°
[0044] In some embodiments, referring to Figure 2 and Figure 7 The unmanned aerial vehicle 100 further comprises a fourth camera module 50, a fifth camera module 60, a sixth camera module 70 and a seventh camera module 80 arranged on the second part 12, the fourth camera module 50 and the fifth camera module 60 are symmetrically arranged on the top part 15 about the first symmetry axis M1, the fourth camera module 50 is located on the first side 13, and the fifth camera module 60 is located on the second side 14, the sixth camera module 70 and the seventh camera module 80 are symmetrically arranged on the top part 15 about the first symmetry axis M1, the sixth camera module 70 is located on the first side 13, and the seventh camera module 80 is located on the second side 14.
[0045] The technical solution of the present application can obtain more image information at the tail of the unmanned aerial vehicle 100 during flight by arranging multiple camera modules on the second part 12 of the unmanned aerial vehicle 100, and cooperate with the three camera modules at the head of the unmanned aerial vehicle 100, thereby improving the accuracy and reliability of the unmanned aerial vehicle 100 in perceiving the surrounding environment. Specifically, by symmetrically arranging the fourth camera module 50 and the fifth camera module 60 on the top part 15 of the second part 12, and symmetrically arranging the sixth camera module 70 and the seventh camera module 80 on the bottom part 16 of the unmanned aerial vehicle 100, the unmanned aerial vehicle 100 can obtain image information from more angles, further improving the perception ability of the environment.
[0046] It can be understood that, in order to further improve the low accuracy problem caused by manufacturing and assembly tolerances, as well as edge distortion of the camera module, the fourth camera module 50, the fifth camera module 60, the sixth camera module 70 and the seventh camera module 80 can also be adaptively tilted relative to the machine body 10, and the specific tilt layout can refer to the tilt layout of the first camera module 20 and the second camera module 30, which will not be described here. In some embodiments, the fourth camera module 50, the fifth camera module 60, the sixth camera module 70 and the seventh camera module 80 can also be super wide-angle lenses, fisheye lenses, etc.
[0047] Compared with the prior art, the unmanned aerial vehicle 100 overcomes the depth measurement error problem that the existing binocular stereo matching sensing scheme is prone to in specific scenarios by increasing the number of camera modules and reasonable arrangement. Specifically, the unmanned aerial vehicle 100 can avoid the sensing failure problem caused by the coplanar line-shaped obstacle and the binocular baseline in the application scenarios such as power line inspection. Therefore, the adaptability and application range of the unmanned aerial vehicle 100 in complex environments are significantly improved.
[0048] The application also provides a flight system embodiment, which comprises the unmanned aerial vehicle 100 in the above embodiment and a control device in communication connection with the unmanned aerial vehicle 100, and the control device is used to control the flight of the unmanned aerial vehicle 100. Specifically, the control device can be a remote control device independent of the unmanned aerial vehicle 100, and the remote control device is held by a user. Alternatively, in other embodiments, the control device can be a self-provided program control device built in the unmanned aerial vehicle 100, which realizes the automatic execution of tasks of the unmanned aerial vehicle 100. For the specific structure and functions of the unmanned aerial vehicle 100, reference can be made to the above embodiments, and details are not repeated here.
[0049] The unmanned aerial vehicle 100 in the embodiment of the application comprises a body 10, a first camera module 20, a second camera module 30 and a third camera module 40. The body 10 has a first part 11 and a second part 12 along a first direction X, the first direction X is the direction in which the unmanned aerial vehicle 100 flies forward, and the first part 11 is located in front of the second part 12; the first camera module 20 is arranged on the first part 11 of the body 10 and located on a first side 13; the second camera module 30 is arranged on the first part 11 of the body 10 and located on a second side 14, the first side 13 and the second side 14 are oppositely arranged along a second direction Y, and the second direction Y is perpendicular to the first direction X; the third camera module 40 is arranged on the first part 11 of the body 10 and located between the first side 13 and the second side 14, and the first camera module 20, the second camera module 30 and the third camera module 40 form a triangular distribution. Through the above structure, the unmanned aerial vehicle 100 can reduce the stereo matching ambiguity, improve the depth measurement accuracy, solve the disadvantages of the binocular method in specific scenarios, and realize omnidirectional multi-view sensing coverage.
[0050] The above description is only an embodiment of the application, and does not limit the patent scope of the application. Any equivalent structure or equivalent flow transformation based on the content of the specification and drawings, or direct or indirect application in other related technical fields, is also included in the patent protection scope of the application.
Claims
1. A drone, characterized in that, Comprising: a body having a first portion and a second portion along a first direction, the first direction being a direction in which the UAV flies forward, the first portion being in front of the second portion; a first camera module disposed on the first portion of the body and located on a first side; a second camera module disposed on the first portion of the body and located on a second side, the first side and the second side being oppositely disposed along a second direction, the second direction being perpendicular to the first direction; a third camera module disposed on the first portion of the body and located between the first side and the second side, the first camera module, the second camera module and the third camera module forming a triangular distribution.
2. The UAV of claim 1, wherein, along the first direction, the body has a first axis of symmetry, the first camera module and the second camera module are disposed about the first axis of symmetry, and the third camera module is located on the first axis of symmetry.
3. The UAV of claim 2, wherein, the body has a top portion and a bottom portion along a third direction, the first camera module, the second camera module and the third camera module are all disposed on the top portion, and the first direction, the second direction and the third direction are perpendicular to each other.
4. The UAV of claim 3, wherein, in a third direction projection, the first camera module is inclined away from the second portion, and an included angle R1 between a projection of a first optical axis of the first camera module and a projection of a first reference line satisfies: 25°≤R1≤65°, wherein the first reference line is parallel to the second direction; and / or, in the third direction projection, the second camera module is inclined away from the second portion, and an included angle R2 between a projection of a second optical axis of the second camera module and a projection of a second reference line satisfies: 25°≤R2≤65°, wherein the second reference line is parallel to the second direction.
5. The UAV of claim 4, wherein, in a second direction projection, the first camera module is inclined away from the bottom portion, and an included angle R3 between a projection of the first optical axis of the first camera module and a projection of a third reference line satisfies: 0°≤R3≤40°, wherein the third reference line is parallel to the first direction; and / or, in the second direction projection, the second camera module is inclined away from the bottom portion, and an included angle R4 between a projection of the second optical axis of the second camera module and a projection of a fourth reference line satisfies: 0°≤R4≤40°, wherein the fourth reference line is parallel to the first direction.
6. The UAV of claim 5, wherein, 40°≤R1≤50°; and / or, 40°≤R2≤50°; and / or, 10°≤R3≤30°; and / or, 7. The UAV of claim 4, wherein, in the second direction projection, the third camera module is inclined away from the second portion, and an included angle R51 between a projection of a third optical axis of the third camera module and a projection of a fifth reference line satisfies: 0°≤R51≤35°, wherein the fifth reference line is parallel to the third direction; or, 10°≤R4≤30°。 In the second direction, the third optical axis of the third camera module is parallel to the fifth reference line or coincides with the fifth reference line; or, In the second direction, the third camera module is tilted towards the second portion, and the angle R53 between the third optical axis of the third camera module and the fifth reference line satisfies: 0° < R53 ≤ 10°, wherein the fifth reference line is parallel to the third direction.
8. The unmanned aerial vehicle of claim 7, wherein, 5° < R51 ≤ 15°, or, 0° < R53 ≤ 5°.
9. The unmanned aerial vehicle of any one of claims 1-8, wherein, the first field of view F1 of the first camera module satisfies: 160° ≤ F1 ≤ 220°; and / or, the second field of view F2 of the second camera module satisfies: 160° ≤ F2 ≤ 220°; and / or, the third field of view F3 of the third camera module satisfies: 160° ≤ F3 ≤ 220°.
10. The unmanned aerial vehicle of claim 3, wherein, the unmanned aerial vehicle further comprises a fourth camera module, a fifth camera module, a sixth camera module and a seventh camera module disposed on the second portion, the fourth camera module and the fifth camera module are symmetrically disposed on the top portion with respect to the first symmetry axis, the fourth camera module is located on the first side, the fifth camera module is located on the second side, the sixth camera module and the seventh camera module are symmetrically disposed on the top portion with respect to the first symmetry axis, the sixth camera module is located on the first side, and the seventh camera module is located on the second side.
11. A flying system, characterized by, The unmanned aerial vehicle as claimed in any one of claims 1-10, and a control device in communication with the unmanned aerial vehicle, the control device being configured to control the flight of the unmanned aerial vehicle.