Drones

Abstract

The present disclosure relates to a kind of unmanned plane, including fuselage, laser radar and underside camera component, laser radar is arranged in the lower portion of fuselage and is used to detect the area below fuselage, underside camera component is arranged in the lower portion of fuselage and is used to photograph the area below fuselage, wherein, underside camera component is adjacent to the arrangement of laser radar.The unmanned plane of the present disclosure has laser radar arranged in the lower portion of fuselage, since laser radar is by self-emission laser as detection source, not rely on environmental reflection light, so as not to be influenced by ambient light, therefore in the case where ambient light is weak, the area below fuselage can be detected by laser radar, accurately identify the obstacle of the area below fuselage, it is advantageous to avoid unmanned plane and the collision of obstacle below fuselage in the case where ambient light is weak.

Description

Technical Field

[0001] This disclosure relates to the field of unmanned aerial vehicle (UAV) technology, and more specifically, to a UAV. Background Technology

[0002] In related technologies, drones are prone to colliding with obstacles during descent, especially in low-light conditions (such as at night). For delivery drones, such collisions can damage both the drone and its suspended cargo. Utility Model Content

[0003] The purpose of this disclosure is to provide a drone that at least partially solves the aforementioned technical problems.

[0004] To achieve the above objectives, this disclosure provides a drone, comprising:

[0005] body;

[0006] A lidar unit is installed at the lower part of the fuselage and is used to detect the area below the fuselage.

[0007] The lower camera assembly is located at the lower part of the body and is used to take pictures of the area located below the body;

[0008] The lower camera assembly is positioned adjacent to the lidar.

[0009] Optionally, the drone further includes a pod connected to the fuselage, the pod having a first mounting portion and a second mounting portion located at the front of the fuselage, the lower camera assembly being mounted on the first mounting portion, and the lidar being mounted on the second mounting portion.

[0010] Optionally, the drone further includes a fill light, which is disposed on the lower part of the fuselage and used to illuminate at least a portion of the shooting area of ​​the lower camera assembly; the lidar is located between the lower camera assembly and the fill light.

[0011] Optionally, the lidar includes a first laser emitting module, a second laser emitting module, and a laser receiving module, which are arranged along the left-right direction of the fuselage, with the laser receiving module located between the first laser emitting module and the second laser emitting module.

[0012] Optionally, the lower camera assembly includes a lower binocular camera and / or a lower first-person main-view camera.

[0013] Optionally, the drone also includes an upper millimeter-wave radar, which is disposed on the upper part of the fuselage and used to detect the area above the fuselage.

[0014] Optionally, the drone also includes a front-side camera assembly and a front-side millimeter-wave radar. The front-side camera assembly is disposed at the front of the fuselage and is used to photograph the area in front of the fuselage. The front-side millimeter-wave radar is disposed at the front of the fuselage and is used to detect the area in front of the fuselage.

[0015] The front camera assembly is located below the front millimeter-wave radar.

[0016] Optionally, the front camera assembly includes a front binocular camera and / or a front first-person main-view camera.

[0017] Optionally, the fuselage includes a first half and a second half connected to each other, with the front millimeter-wave radar disposed on the first half and the front camera assembly disposed on the second half.

[0018] Optionally, the drone also includes:

[0019] A rear-mounted first-person perspective camera, positioned at the rear of the camera body, is used to capture images of the area behind the camera body; and / or,

[0020] A first-person perspective camera on the left side is positioned on the left side of the camera body and is used to capture images of the area to the left of the camera body; and / or,

[0021] The first-person perspective camera on the right side is located on the right side of the camera body and is used to capture images of the area to the right of the camera body.

[0022] Using the above technical solution, during the day, the lidar can detect the area beneath the drone's fuselage, and the camera module can capture images of that area. Because the lidar and camera module are positioned adjacent to each other, they can work together effectively to accurately identify obstacles beneath the drone. For example, the lidar can detect a 3D point cloud map of the area beneath the drone, and the image captured by the lower camera module can be used to colorize the point cloud map measured by the lidar.

[0023] Compared to related technologies where drones rely solely on cameras for obstacle detection, the drone disclosed herein features a lidar unit mounted on its underside. Since lidar uses its own emitted laser light as a detection source, it is independent of ambient light reflections and can "illuminate" targets regardless of ambient light intensity. Furthermore, lidar exhibits precise wavelength selectivity, accepting only its own emitted wavelength. The absence or weakening of visible light at night actually allows lidar to focus more intently on detecting laser echoes. In other words, lidar's performance at night is typically superior to or equal to its performance during the day, unaffected by ambient light. Therefore, at night, lidar can detect the area beneath the drone, accurately identifying obstacles and allowing the drone to avoid them during descent. This helps prevent collisions during descent and, for delivery drones, enhances their nighttime delivery capabilities. Attached Figure Description

[0024] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings:

[0025] Figure 1 This is a three-dimensional structural diagram of a drone provided in one embodiment of the present disclosure.

[0026] Figure 2 yes Figure 1 A magnified view of a portion of point A in the middle.

[0027] Figure 3 This is a three-dimensional structural diagram of a drone provided in one embodiment of the present disclosure (and...). Figure 1 (From a different perspective), the rotor of the drone is hidden within.

[0028] Figure 4 yes Figure 3 A magnified view of a section at point B in the middle.

[0029] Figure 5 This is a rear view of a drone provided according to one embodiment of the present disclosure.

[0030] Figure 6 This is a left view of a drone provided in one embodiment of this disclosure.

[0031] Figure 7 This is a right view of a drone provided in one embodiment of this disclosure.

[0032] Explanation of reference numerals in the attached figures

[0033] 10-Fuselage; 11-First half-body; 12-Second half-body; 13-Suspension structure; 20-LiDAR; 21-First laser emitting module; 22-Second laser emitting module; 23-Laser receiving module; 30-Lower side camera assembly; 31-Lower side binocular camera; 32-Lower side first-person main view camera; 40-Pod; 41-First mounting part; 42-Second mounting part; 50-Finish light; 60-Front side camera assembly; 61-Front side binocular camera; 62-Front side first-person main view camera; 71-Front side millimeter-wave radar; 72-Upper side millimeter-wave radar; 80-Rear side first-person main view camera; 91-Left side first-person main view camera; 92-Right side first-person main view camera. Detailed Implementation

[0034] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0035] In this disclosure, unless otherwise stated, directional terms such as "up," "down," "forward," "backward," "left," and "right" are generally defined in the context of the UAV's normal flight (see reference for details). Figure 1 (As shown), it is only for the convenience of describing this disclosure and simplifying the description, and is not intended to indicate or imply that the device or element referred to must have a specific orientation, or a specific orientation construction and operation, and therefore should not be construed as a limitation of this disclosure. "Inner" and "outer" refer to the inner and outer contours of the corresponding components. In addition, the terms "first," "second," etc., are used to distinguish one element from another and do not have any order or importance.

[0036] In the description of this disclosure, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "connect," "link," and "install" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0037] In related technologies, drones rely solely on cameras to detect obstacles below. In low-light conditions (such as nighttime flight scenarios), insufficient light results in poor image quality from the camera, making it difficult to accurately identify obstacles. Consequently, drones are prone to colliding with obstacles during their nighttime descent.

[0038] In view of this, such as Figures 1 to 7As shown, this disclosure provides a drone, including a fuselage 10, a lidar 20, and a lower camera assembly 30. The lidar 20 is disposed on the lower part of the fuselage 10 and is used to detect the area below the fuselage 10. The lower camera assembly 30 is disposed on the lower part of the fuselage 10 and is used to photograph the area located below the fuselage 10. The lower camera assembly 30 is disposed adjacent to the lidar 20.

[0039] Here, the lidar 20 can emit laser pulses to the area below the fuselage 10. When the laser pulse encounters the surface of an obstacle, some of the energy is reflected back to form a laser echo, which is received by the lidar 20 (such as the laser receiving module 23 of the lidar 20 mentioned below). The calculation module of the lidar 20 can accurately measure the time elapsed from the emission of the laser pulse to the reception of the echo. Using the speed of light and the measured flight time, the distance between the radar and the obstacle can be calculated, thus realizing the detection of the obstacle.

[0040] Through the above technical solution, during the day, the lidar 20 can detect the area below the fuselage 10, and the camera assembly 30 can capture images of the area below the fuselage 10. Since the lidar 20 and the camera assembly 30 are arranged adjacent to each other, they can work together effectively to achieve accurate identification of obstacles below the drone. For example, the lidar 20 can detect a 3D point cloud map of the area below the fuselage 10, and the image captured by the lower camera assembly 30 can be used to colorize the point cloud map measured by the lidar 20.

[0041] Compared to related technologies where drones rely solely on cameras for obstacle detection, the drone disclosed herein features a lidar 20 located on the lower part of the fuselage 10. Since the lidar 20 uses its own emitted laser as a detection source, it is independent of ambient reflected light and can "illuminate" targets regardless of ambient light intensity. Furthermore, because the lidar 20 exhibits precise wavelength selectivity—receiving only light of its own emitted wavelength—the disappearance or weakening of visible light at night actually allows the lidar 20 to focus more intently on detecting laser echoes. In other words, the lidar 20's performance at night is typically superior to or equal to its performance during the day, unaffected by ambient light. Therefore, at night, the lidar 20 can detect the area below the fuselage 10, accurately identifying obstacles and allowing the drone to avoid them during descent. This helps prevent collisions during descent and, for delivery drones, improves their nighttime delivery capabilities.

[0042] In addition, the lidar 20 can systematically scan a certain area below the drone with its laser beam, emitting tens of thousands of laser pulses per second. Each pulse acquires the distance of a point, and the collection of a large number of distance points forms a three-dimensional perception of the environment. This allows the lidar 20 to detect obstacles of various sizes and positions within its field of view and detection range. In other words, the detection area of ​​the lidar 20 can cover the entire drone, thereby preventing the drone from colliding with obstacles at various points during its descent.

[0043] It should be noted that the drone disclosed herein can be used as a drone for delivering goods, and the goods that the drone can carry can be any suitable type, such as parcels, boxes, food bags, etc.

[0044] Optionally, such as Figure 1 , Figure 3 , Figures 5 to 7 As shown, the drone may also include a suspension structure 13, which is located at the lower part of the fuselage 10 and is used to suspend cargo. The suspension structure 13 may include a suspension cable for connecting to the cargo. When loading and unloading cargo, the drone can suspend the fuselage 10 at a high altitude and load and unload cargo by rappelling.

[0045] In this disclosure, by setting the position of the lidar 20, the lidar 20 can not only detect obstacles in the area below the fuselage 10, but also detect the positional changes of the cargo suspended by the drone in real time. The drone's controller or a server connected to the controller signal can use this information to measure the swing amplitude of the cargo relative to the fuselage 10, and make real-time adjustments to the fuselage 10 through the controller, thereby eliminating or reducing the swing of the cargo relative to the fuselage 10, so that the cargo can be smoothly and accurately rappelled to the target area.

[0046] To avoid interference between the lower camera assembly 30 and the lidar 20 and the cargo mounted below the fuselage 10, as one implementation method, such as Figures 1 to 4 As shown, the drone also includes a pod 40 connected to the fuselage 10. The pod 40 has a first mounting part 41 and a second mounting part 42 located in front of the fuselage 10. The lower camera assembly 30 is mounted on the first mounting part 41, and the lidar 20 is mounted on the second mounting part 42.

[0047] Since the first mounting part 41 and the second mounting part 42 are located in front of the fuselage 10, mounting the lower camera assembly 30 in the first mounting part 41 and the lidar 20 in the second mounting part 42 helps to clear the space under the fuselage 10 for the lower camera assembly 30 and the lidar 20, so as to facilitate the loading of goods under the fuselage 10 and facilitate the arrangement of the supplementary light 50 mentioned below.

[0048] Optionally, such as Figure 3 and Figure 4 As shown, the drone also includes a fill light 50, which is located on the lower part of the fuselage 10 and is used to illuminate at least a portion of the shooting area of ​​the lower camera assembly 30.

[0049] In low ambient light conditions (such as at night), the area below the drone can be illuminated by the supplementary light 50. The ambient reflected light in the area below the drone meets the shooting requirements of the lower camera assembly 30, so that the lower camera assembly 30 can work in conjunction with the lidar 20 even in low ambient light conditions, thereby better identifying obstacles and further improving the accuracy of obstacle identification.

[0050] In addition, the illumination provided by the supplementary light 50 allows the lower camera assembly 30 to clearly capture the parking identification code below the drone even in low ambient light conditions, enabling the drone to land accurately on the parking platform even in low ambient light conditions.

[0051] Because the camera assembly 30 is more sensitive to high temperatures than the LiDAR 20, increased temperature affects the camera's image quality; for example, noise in the captured images increases with rising camera temperature. Therefore, as an implementation method, such as... Figure 3 As shown, the lidar 20 is located between the lower camera assembly 30 and the fill light 50. For example, the lower camera assembly 30, lidar 20, and fill light 50 can be arranged sequentially from front to back along the fuselage 10. For example, in an embodiment where the drone also includes a pod 40, the lower camera assembly 30 and lidar 20 can be arranged on the pod 40, and the fill light 50 can be arranged on the fuselage 10.

[0052] This arrangement has two advantages. First, it allows for a compact arrangement of the lidar 20, the lower camera assembly 30, and the fill light 50, which helps ensure the fill light 50 provides adequate illumination to the lower camera assembly 30. Second, it allows for a gap between the lower camera assembly 30 and the fill light 50, which helps reduce the impact of the heat generated by the fill light 50 on the lower camera assembly 30.

[0053] Optionally, such as Figure 3 As shown, the lower camera assembly 30, lidar 20 and supplementary light 50 can be arranged on the front side of the suspension structure 13, which is conducive to the coordinated operation of the lower camera assembly 30, lidar 20 and supplementary light 50, and also helps to increase the space for the three to avoid the cargo suspended by the suspension structure 13.

[0054] This disclosure does not limit the construction of the lidar 20; as one implementation, such as Figure 4As shown, the lidar 20 includes a first laser emitting module 21, a second laser emitting module 22, and a laser receiving module 23. The first laser emitting module 21, the second laser emitting module 22, and the laser receiving module 23 are arranged along the left and right direction of the fuselage 10, and the laser receiving module 23 is located between the first laser emitting module 21 and the second laser emitting module 22.

[0055] Laser pulses can be emitted to the area below the fuselage 10 through the first laser emitting module 21 and the second laser emitting module 22. When the laser pulse encounters the surface of an obstacle, part of the energy will be reflected back to form a laser echo. The laser receiving module 23 is used to receive the reflected laser echo.

[0056] The first laser emitting module 21, the second laser emitting module 22, and the laser receiving module 23 are arranged along the left and right direction of the fuselage 10. The laser receiving module 23 is located between the first laser emitting module 21 and the second laser emitting module 22, which is beneficial to the lidar 20 covering a larger detection area.

[0057] This disclosure does not limit the construction of the lower camera assembly 30. Optionally, the lower camera assembly 30 includes a lower binocular camera 31 and / or a lower first-person main-view camera 32. That is, the lower camera assembly 30 includes a lower binocular camera 31, or the lower camera assembly 30 includes a lower first-person main-view camera 32, or the lower camera assembly 30 includes both a lower binocular camera 31 and a lower first-person main-view camera 32.

[0058] Binocular cameras can capture images from two different perspectives and fuse them into a single image with depth and color information, resulting in relatively clear imaging. However, binocular cameras must use complex algorithms to generate depth information, which introduces a certain degree of latency. First-person view (FPV) cameras, on the other hand, have the advantages of no computational load, a simple signal chain, and direct hardware connectivity. They can achieve an extremely short path of "light signal → electrical signal → screen" in the imaging path, allowing the captured image to be transmitted to the display device with ultra-low latency.

[0059] Therefore, the lower binocular camera 31 can capture images of the area below the fuselage 10 with depth and color information, which facilitates the drone's identification of obstacles and information in the area below.

[0060] The lower first-person perspective camera 32 can transmit low-latency image information via Wi-Fi or mobile communication networks, allowing users to remotely observe the situation below the drone, thus enabling users to remotely control the drone to land safely in an emergency.

[0061] Optionally, such as Figure 1As shown, the drone also includes a front-side camera assembly 60 and a front-side millimeter-wave radar 71. The front-side camera assembly 60 is located at the front of the fuselage 10 and is used to photograph the area in front of the fuselage 10. The front-side millimeter-wave radar 71 is located at the front of the fuselage 10 and is used to detect the area in front of the fuselage 10. The front-side camera assembly 60 is located below the front-side millimeter-wave radar 71.

[0062] Millimeter-wave radar boasts advantages such as smaller size, lighter weight, and higher spatial resolution, making it more suitable for unmanned aerial vehicles (UAVs). Furthermore, compared to infrared and laser radars, millimeter-wave radar has a stronger ability to penetrate smoke, fog, and dust, exhibiting better anti-jamming capabilities. Simultaneously, millimeter-wave radar can identify smaller targets individually and simultaneously, possessing imaging capabilities, making it more suitable for complex environments such as urban areas. It is advantageous for identifying dynamic small targets like birds and kites, as well as potential obstacles such as buildings, trees, signal towers, and power lines.

[0063] Therefore, when the drone is flying, obstacles in the area in front of the drone can be identified by the front camera assembly 60, and obstacles in the area in front of the drone can be identified by the front millimeter-wave radar 71. Through the complementary relationship between the front camera assembly 60 and the front millimeter-wave radar 71, the drone can autonomously avoid obstacles in relatively complex environments, thereby improving the reliability of the drone.

[0064] Furthermore, since the top of the drone body 10 gets hot due to direct sunlight during daytime flight, the front camera assembly 60 is located below the front millimeter-wave radar 71. This allows the front camera assembly 60, which is more sensitive to high temperatures, to be kept away from the top of the drone body 10, thus helping to prevent the front camera assembly 60 from affecting image quality due to excessive heat.

[0065] This disclosure does not limit the construction of the front camera assembly 60; as one embodiment, such as Figure 1 As shown, the front camera assembly 60 includes a front binocular camera 61 and / or a front first-person main-view camera 62. That is, the front camera assembly 60 includes a front binocular camera 61, or the front camera assembly 60 includes a front first-person main-view camera 62, or the front camera assembly 60 includes both a front binocular camera 61 and a front first-person main-view camera 62.

[0066] The front-facing binocular camera 61 can capture images with depth and color information of the area in front of the drone 10, facilitating the drone's identification of obstacles and information in the area ahead. The front-facing first-person view camera 62 can transmit low-latency image information via Wi-Fi or mobile communication networks, allowing users to remotely observe the situation in front of the drone, thus enabling users to remotely control the drone to fly forward in emergency situations.

[0067] Optionally, the front millimeter-wave radar 71 can be tilted upwards toward the fuselage 10 at an angle of 9°.

[0068] Optionally, such as Figure 1 and Figure 3 As shown, the fuselage 10 includes a first half 11 and a second half 12 connected to each other. A front millimeter-wave radar 71 is disposed on the first half 11, and a front camera assembly 60 is disposed on the second half 12.

[0069] With this setup, the front millimeter-wave radar 71 and its wiring harness can be installed on the first half 11, and the front camera assembly 60 and its wiring harness can be installed on the second half 12. Then, the first half 11 and the second half 12 can be installed together. This helps to reduce the difficulty of installing the front millimeter-wave radar 71 and the front camera assembly 60 on the fuselage 10, and also helps to reduce the difficulty of arranging their wiring harnesses on the fuselage 10, thereby improving the assembly efficiency of the UAV.

[0070] Optionally, such as Figure 1 As shown, the drone may also include an upper millimeter-wave radar 72 mounted on the upper part of the fuselage 10. The upper millimeter-wave radar 72 is used to detect the area above the fuselage 10 to prevent the drone from colliding with obstacles above it. In scenarios where multiple drones need to land at the same take-off and landing point, the detection of the area above the fuselage 10 by the upper millimeter-wave radar 72 can effectively avoid space conflicts between drones landing successively in the same landing channel.

[0071] In this disclosure, such as Figures 1 to 7 As shown, the front millimeter-wave radar 71 and the upper millimeter-wave radar 72 can both be installed on the first half 11, while the front camera assembly 60, the lower camera assembly 30, the lidar 20, the fill light 50, and the rear first-person main view camera 80, the left first-person main view camera 91 and the right first-person main view camera 92 mentioned below can all be installed on the second half 12, thereby facilitating the installation of the above-mentioned devices on the fuselage 10 and the corresponding wiring.

[0072] Optionally, such as Figure 5 As shown, the drone may also include a rear-mounted first-person view camera 80, which can be positioned at the rear of the fuselage 10 and used to capture images of the area behind the fuselage 10. This allows users to remotely monitor low-latency images behind the fuselage 10, facilitating remote control of the drone to fly backward.

[0073] Optionally, such as Figure 6As shown, the drone may also include a left-side first-person view camera 91, which can be positioned on the left side of the fuselage 10 and used to capture images of the area to the left of the fuselage 10. This allows the user to remotely monitor the low-latency image to the left of the fuselage 10, facilitating remote control of the drone to fly to the left.

[0074] Optionally, such as Figure 7 As shown, the drone may also include a right-side first-person perspective camera 92, which can be positioned on the right side of the fuselage 10 and used to capture images of the area to the right of the fuselage 10. This allows the user to remotely monitor low-latency images of the right side of the fuselage 10, facilitating remote control of the drone to fly to the right.

[0075] In one embodiment of this disclosure, the drone may include the aforementioned front first-person main view camera 62, rear first-person main view camera 80, left first-person main view camera 91, and right first-person main view camera 92, thereby enabling the user to remotely monitor the first delayed images in the four directions of the drone, and facilitating the user to remotely control the drone to fly in any of the four directions.

[0076] Optionally, the front first-person main view camera 62, the rear first-person main view camera 80, the left first-person main view camera 91, and the right first-person main view camera 92 are all equipped with wide-angle lenses, and the fields of view of the front first-person main view camera 62, the rear first-person main view camera 80, the left first-person main view camera 91, and the right first-person main view camera 92 intersect to form a ring field of view surrounding the fuselage 10, thereby allowing the user to monitor the area around the fuselage 10 without blind spots, and making it convenient for the user to remotely control the drone to fly in any horizontal direction.

[0077] Understandably, the lower first-person perspective camera 32 can also have a wide-angle lens.

[0078] Optionally, the drone may also include a magnetic compass, which may be mounted on the fuselage 10 or on the pod 40. The magnetic compass can be used to measure the direction of the Earth's magnetic field and can be used for navigation and positioning, thereby facilitating the planning of flight routes and guidance of flight direction when the drone is flying autonomously.

[0079] In addition, the drone disclosed herein may also include a controller. The aforementioned sensors, such as the lidar 20, the lower camera assembly 30, the fill light 50, the front camera assembly 60, the front millimeter-wave radar 71, the upper millimeter-wave radar 72, the rear first-person main-view camera 80, the left first-person main-view camera 91 and the right first-person main-view camera 92, and the magnetic compass, are all electrically connected to the controller. The controller is equipped with a communication module, which can connect to the server via Wi-Fi or a mobile communication network.

[0080] The controller can receive information from the various camera components, millimeter-wave radar, lidar, magnetic compass, and other components mentioned above, and can control the flight of the UAV. The controller can send information to the server through the communication module, and can also receive remote commands through the communication module.

[0081] Optionally, the controller may also include an inertial measurement unit (IMU) module. The IMU module can measure and calculate parameters such as the speed, tilt, rotation, and motion angle of the UAV, which helps the UAV plan its flight path and achieve autonomous obstacle avoidance, thereby improving the safety and reliability of the UAV.

[0082] The preferred embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. However, this disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this disclosure, various simple modifications can be made to the technical solutions of this disclosure, and these simple modifications all fall within the protection scope of this disclosure.

[0083] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0084] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. A drone, characterized in that, include: body; A lidar unit is installed at the lower part of the fuselage and is used to detect the area below the fuselage. The lower camera assembly is located at the lower part of the body and is used to take pictures of the area located below the body; The lower camera assembly is positioned adjacent to the lidar.

2. The UAV according to claim 1, characterized in that, The drone also includes a pod connected to the fuselage. The pod has a first mounting portion and a second mounting portion located at the front of the fuselage. The lower camera assembly is mounted on the first mounting portion, and the lidar is mounted on the second mounting portion.

3. The UAV according to claim 1, characterized in that, The drone also includes a fill light, which is located on the lower part of the fuselage and is used to illuminate at least a portion of the shooting area of ​​the lower camera assembly; The lidar is located between the lower camera assembly and the fill light.

4. The UAV according to any one of claims 1-3, characterized in that, The lidar includes a first laser emitting module, a second laser emitting module, and a laser receiving module. The first laser emitting module, the second laser emitting module, and the laser receiving module are arranged along the left-right direction of the fuselage, and the laser receiving module is located between the first laser emitting module and the second laser emitting module.

5. The UAV according to any one of claims 1-3, characterized in that, The lower camera assembly includes a lower binocular camera and / or a lower first-person main-view camera.

6. The UAV according to any one of claims 1-3, characterized in that, The drone also includes an upper millimeter-wave radar, which is located on the upper part of the fuselage and is used to detect the area above the fuselage.

7. The UAV according to claim 1, characterized in that, The drone also includes a front-side camera assembly and a front-side millimeter-wave radar. The front-side camera assembly is located at the front of the fuselage and is used to photograph the area in front of the fuselage. The front-side millimeter-wave radar is located at the front of the fuselage and is used to detect the area in front of the fuselage. The front camera assembly is located below the front millimeter-wave radar.

8. The UAV according to claim 7, characterized in that, The front camera assembly includes a front binocular camera and / or a front first-person main-view camera.

9. The UAV according to claim 7, characterized in that, The fuselage includes a first half and a second half that are connected to each other. The front millimeter-wave radar is disposed on the first half, and the front camera assembly is disposed on the second half.

10. The UAV according to any one of claims 1-3 or 7-9, characterized in that, The drone also includes: A rear-mounted first-person perspective camera, positioned at the rear of the camera body, is used to capture images of the area behind the camera body; and / or, A first-person perspective camera on the left side is positioned on the left side of the camera body and is used to capture images of the area to the left of the camera body; and / or, The first-person perspective camera on the right side is located on the right side of the camera body and is used to capture images of the area to the right of the camera body.

Images