Unmanned aerial vehicle and panoramic aerial vehicle

Abstract

The application relates to the field of aircraft technology, in particular to an unmanned aerial vehicle and a panoramic photographing aircraft. The unmanned aerial vehicle comprises a fuselage, a power device and an image acquisition device. The fuselage comprises a body and at least three supporting parts which are spaced from each other and connected to the body, at least one of the at least three supporting parts is a movable supporting part, and the movable supporting part can move relative to the body to be in a first position or a second position. The power device is connected to the body, and the power device is used for providing power for flight of the unmanned aerial vehicle, so that the unmanned aerial vehicle has a flight state and a parking state. The image acquisition device is arranged on the body, and the image acquisition device comprises a first fisheye lens and a second fisheye lens, the first fisheye lens and the second fisheye lens are arranged on two sides of the body respectively, and the second fisheye lens is located on a downward side of the body. The above-mentioned unmanned aerial vehicle can reduce damage of the fisheye lens during landing and storage while acquiring a panoramic view.

Description

Technical Field

[0001] This application relates to the field of aircraft technology, and in particular to an unmanned aerial vehicle and a panoramic imaging aircraft. Background Technology

[0002] Currently, to capture panoramic bird's-eye views, fisheye lenses are typically mounted on the bottom and top of the drone. However, due to the wide field of view of fisheye lenses, other parts of the drone can easily enter the view, affecting the quality of the final panoramic image. Therefore, to keep other parts of the drone out of the fisheye lens's field of view during shooting, the top and bottom fisheye lenses are usually positioned beyond the drone's fuselage to increase the stitching angle. While this protruding lens configuration provides a better field of view, the bottom fisheye lens, protruding relative to the drone's fuselage, is more prone to contact and collision with the resting or placement surface during drone landing or storage, potentially damaging the lens and reducing its lifespan. Utility Model Content

[0003] This application provides an unmanned aerial vehicle and a panoramic photography aerial vehicle.

[0004] In a first aspect, this application provides an unmanned aerial vehicle (UAV), including a body and at least three support sections. The at least three support sections are spaced apart from each other and respectively connected to the body. At least one of the at least three support sections is a movable support section, capable of moving relative to the body to a first position or a second position. A power unit is connected to the body and provides power for the UAV to fly, enabling the UAV to have a flight state and a stationary state. An image acquisition device is disposed on the body, including a first fisheye lens and a second fisheye lens, which are respectively disposed on opposite sides of the body, with the second fisheye lens located on the downward-facing side of the body. When the movable support section is in the first position, the at least three support sections jointly define a reference plane, which is higher than the lowest point of the second fisheye lens. When the movable support section is in the second position, the at least three support sections jointly define a support plane, which is located on the side of the second fisheye lens opposite to the first fisheye lens.

[0005] In some alternative examples, the fuselage also includes a movable member movably connected to the fuselage body, and a movable support is disposed on the movable member, the movable member being movable relative to the fuselage body to place the movable support in a first position or a second position.

[0006] In some optional examples, the number of movable parts is set to at least three, at least three of the at least three support parts are movable support parts, and the three movable support parts are respectively set on different movable parts.

[0007] In some optional examples, the number of movable parts is set to multiple, with at least two of the at least three support parts being movable support parts, and the two movable support parts being set on different movable parts.

[0008] In some alternative examples, at least one of the three support parts is a fixed support part, which is fixedly mounted on the body.

[0009] In some alternative examples, the fuselage is provided with a first protrusion that, in flight mode, is located at the bottom of the fuselage and protrudes relative to the surface of the fuselage, with a fixed support located at the protruding end of the first protrusion.

[0010] In some alternative examples, at least two of the three support parts are fixed support parts, and both fixed support parts are fixedly mounted on the body.

[0011] In some alternative examples, the fuselage is provided with a second protrusion and a third protrusion. In flight, the second protrusion is located at the bottom of the fuselage and protrudes relative to the surface of the fuselage, and the third protrusion is located at the bottom of the fuselage and protrudes relative to the surface of the fuselage. A fixed support is located at the protruding end of the second protrusion, and another fixed support is located at the protruding end of the third protrusion.

[0012] In some alternative examples, the fuselage includes a plurality of folding arms connected to the fuselage body, the plurality of folding arms being movable relative to the fuselage body to be in an unfolded or folded state, a power unit being disposed on the plurality of folding arms, and at least one of the plurality of folding arms constituting a movable element.

[0013] In some alternative examples, the folding arm includes a pivot and an arm, the arm being rotatably connected to the body via the pivot, the arm rotating relative to the body about the pivot.

[0014] In some alternative examples, the pivot is parallel to the yaw axis of the unmanned aerial vehicle, and in flight, the movable support is located on the side of the arm facing downwards.

[0015] In some alternative examples, in flight mode, the movable support is the lowest point of the surface on the downward side of the arm.

[0016] In some alternative examples, the arm is provided with a fourth protrusion that protrudes relative to the surface of the arm, and in flight, the movable support is located at the end of the fourth protrusion facing downwards.

[0017] In some optional examples, the pivot axis and the yaw axis intersect, and the angle between the pivot axis and the yaw axis falls within any of the following angle ranges: (0°, 3°), [3°, 6°], [6°, 10°], [10°, 20°].

[0018] In some alternative examples, the pitch axis and roll axis of the unmanned aerial vehicle jointly define a first surface, and the rotation axis is parallel to the first surface; in flight, the folding arm is in an unfolded state, and the movable support is located at the highest point of the arm on the upward side.

[0019] In some alternative examples, the power unit includes a drive unit and a propeller, with the drive unit connected between the boom and the propeller; a movable support is located at the end of the boom.

[0020] In some alternative examples, in flight mode, the drive unit is located below the propeller, and the movable support is located at the lowest point on the downward-facing side of the drive unit.

[0021] In some alternative examples, in flight mode, the drive unit is located below the propeller, and the movable support is located at the highest point on the side of the drive unit facing away from the ground.

[0022] In some alternative examples, the pitch axis and roll axis of the unmanned aerial vehicle jointly define a first surface, the rotation axis intersects the first surface, and the angle between the rotation axis and the first surface falls within any of the following angle ranges: (0°, 3°], [3°, 6°], [6°, 10°], [10°, 20°].

[0023] In some optional examples, the parking states of the unmanned aerial vehicle include a ready-to-fly state and a stowed state. When the unmanned aerial vehicle is in the ready-to-fly state, the folding arms are in the extended state; when the unmanned aerial vehicle is in the stowed state, the folding arms are in the folded state; and when the unmanned aerial vehicle is in flight, the folding arms are in the extended state.

[0024] In some alternative examples, the fuselage includes a folding landing gear connected to the fuselage, the folding landing gear being movable relative to the fuselage to be in a supported or retracted state, the folding landing gear being a movable component; when the folding landing gear is in the supported state, the movable support is located at the lowest point of the folding landing gear.

[0025] In some alternative examples, the folding landing gear includes a landing gear drive mechanism and the landing gear, the landing gear being rotatably connected to the fuselage; the landing gear drive mechanism is connected between the fuselage and the landing gear, and is used to drive the landing gear to rotate relative to the fuselage.

[0026] In some optional examples, the parking states of the unmanned aerial vehicle include a ready-to-fly state and a stowed state. When the unmanned aerial vehicle is in the ready-to-fly state, the folding landing gear is in the supported state; when the unmanned aerial vehicle is in the stowed state, the folding landing gear is in the retracted state; and when the unmanned aerial vehicle is in flight, the folding landing gear is in the retracted state.

[0027] In some optional examples, the field of view of the first fisheye lens is greater than 180°, and the field of view of the second fisheye lens is greater than 180°; the first fisheye lens has a first field of view region, and the second fisheye lens 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 blind spot; when the unmanned aerial vehicle is in flight, at least three support parts are located within the blind spot.

[0028] In some alternative examples, when the unmanned aerial vehicle is parked, at least three support structures are located within the blind spot of the field of view.

[0029] In some optional examples, the first field of view and the second field of view intersect to form an overlapping area, the angle of which falls within any of the following angle ranges: (0°, 5°], [5°, 10°], [10°, 20°], [20°, 40°], [40°, 60°].

[0030] In some optional examples, when the UAV is projected onto a reference projection plane in a specified direction while in a stationary state, the projection of the UAV's center of gravity falls within the projection range of the support plane, the reference projection plane is parallel to the support plane, and the specified direction is perpendicular to the reference projection plane.

[0031] Secondly, this application also provides an unmanned aerial vehicle (UAV) having a flight state and a stationary state. The UAV includes a fuselage and an image acquisition device. The fuselage includes a body and at least three support sections, which are spaced apart from each other and respectively connected to the body. At least one of the at least three support sections is a movable support section, which can move relative to the body to a first position or a second position. The image acquisition device is disposed on the body and includes a fisheye lens. In the flight state, the fisheye lens is located on the side of the body facing the ground and protrudes relative to the surface of the body. When the movable support section is in the first position, the at least three support sections jointly define a reference plane, which is higher than the lowest point of the fisheye lens. When the movable support section is in the second position, the at least three support sections jointly define a support plane, and there is a space between the support plane and the lowest point of the fisheye lens.

[0032] Thirdly, this application also provides a panoramic imaging aircraft, including a fuselage and an image acquisition device. The fuselage includes a body, a first support, a second support, and a third support. The first, second, and third support are spaced apart from each other and respectively connected to the body. The first support is movable relative to the body to a first position or a second position. The image acquisition device is disposed on the body and includes a first fisheye lens and a second fisheye lens. The first and second fisheye lenses are respectively disposed on opposite sides of the body, and their fields of view overlap to acquire panoramic images. When the panoramic imaging aircraft is in flight, the second fisheye lens is located on the side of the body facing the ground. When the first support is in the first position, the first, second, and third support together define a reference plane, which is higher than the lowest point of the second fisheye lens and between the first fisheye lens and the reference plane. When the first support is in the second position, the first, second, and third support together define a support plane, which is located on the side of the second fisheye lens opposite to the first fisheye lens.

[0033] Compared to existing technologies, the unmanned aerial vehicle (UAV) provided in this application utilizes a power unit that provides the power for flight, enabling the UAV to be in flight mode. A first fisheye lens and a second fisheye lens are respectively located on both sides of the body, i.e., at the top and bottom of the body, and are used to acquire panoramic images. When the movable support is in the first position, the UAV can be in flight mode. At least three support parts jointly define a reference plane, which is higher than the lowest point of the second fisheye lens, thereby reducing the possibility of the three support parts entering the field of view of the second fisheye lens. When the movable support is in the second position, the UAV can be in a stationary state. At least three support parts jointly define a support plane, which is located on the side of the second fisheye lens opposite to the first fisheye lens. When the UAV is placed on a mounting surface, the support plane defined by the at least three support parts can coincide with the mounting surface, and the second fisheye lens is located above the support plane, meaning the second fisheye lens will not contact or collide with the mounting surface and thus will not be damaged.

[0034] Therefore, the unmanned aerial vehicle provided in this application can acquire panoramic images in flight and protect the second fisheye lens in stationary state, reducing the possibility of damage caused by contact or collision between the second fisheye lens and the placement surface, thereby improving the service life of the second fisheye lens. Attached Figure Description

[0035] To more clearly illustrate the technical solution of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0036] Figure 1 This is a simplified structural diagram of an unmanned aerial vehicle provided in one embodiment of this application.

[0037] Figure 2 yes Figure 1 The diagram shows a simplified structural schematic of the unmanned aerial vehicle.

[0038] Figure 3 yes Figure 1 The diagram shows the overall structure of the unmanned aerial vehicle.

[0039] Figure 4 yes Figure 3 The diagram shows the structure of the unmanned aerial vehicle in its stowed state.

[0040] Figure 5 (a) is Figure 3 The diagram shows a simplified representation of the reference plane when the unmanned aerial vehicle is hovering.

[0041] Figure 5 (b) is Figure 3 The diagram shows a simplified representation of the support plane of an unmanned aerial vehicle in a ready-to-fly state.

[0042] Figure 6 (a) is Figure 3 A simplified schematic diagram of the reference plane of the unmanned aerial vehicle shown.

[0043] Figure 6 (b) is Figure 3 A simplified schematic diagram of the support plane of the unmanned aerial vehicle shown.

[0044] Figure 7 yes Figure 3 The diagram shows the exploded internal structure of the unmanned aerial vehicle.

[0045] Figure 8 yes Figure 7 The diagram shows an exploded view of a portion of the unmanned aerial vehicle.

[0046] Figure 9 yes Figure 3 The diagram shown illustrates the first surface and the horizontal plane of the unmanned aerial vehicle.

[0047] Figure 10 yes Figure 3The diagram shows the exploded structure of the lower shell and the second obstacle avoidance module of the unmanned aerial vehicle.

[0048] Figure 11 yes Figure 10 The diagram shows another perspective of the explosive structure of the lower shell and the second obstacle avoidance module.

[0049] Figure 12 yes Figure 11 A simplified schematic diagram of the auxiliary lights on the unmanned aerial vehicle shown.

[0050] Figure 13 yes Figure 3 The diagram shows a structural schematic of one embodiment of the support section of the unmanned aerial vehicle.

[0051] Figure 14 yes Figure 3 The diagram shows the overall structure of the unmanned aerial vehicle from another perspective.

[0052] Figure 15 yes Figure 3 The diagram shown is a representation of the center of tension of the unmanned aerial vehicle.

[0053] Figure 16 yes Figure 3 The diagram shows the structure of the support frame and image display device of the unmanned aerial vehicle.

[0054] Figure 17 yes Figure 16 The diagram shows the exploded structure of the support.

[0055] Figure 18 yes Figure 3 A schematic diagram of the field of view of the image display device of the unmanned aerial vehicle shown.

[0056] Figure 19 yes Figure 18 A simplified schematic diagram of the field of view of the image display device shown.

[0057] Figure 20 yes Figure 3 The diagram shows the structure of the unmanned aerial vehicle in its stowed state from another perspective.

[0058] Figure 21 This is a schematic diagram of the overall structure of an unmanned aerial vehicle provided in one embodiment of this application.

[0059] Figure 22 (a) is Figure 21 A simplified schematic diagram of the reference plane of the unmanned aerial vehicle shown.

[0060] Figure 22 (b) is Figure 21 A simplified schematic diagram of the support plane of the unmanned aerial vehicle shown.

[0061] Figure 23 This is a schematic diagram of the overall structure of a panoramic imaging aircraft provided in one embodiment of this application.

[0062] Figure 24 (a) is Figure 23 A simplified schematic diagram of the reference plane of the panoramic imaging aircraft.

[0063] Figure 24 (b) is Figure 23 A simplified schematic diagram of the support plane of the panoramic imaging aircraft.

[0064] Labeling Explanation: 100, Unmanned Aerial Vehicle; 10, Fuselage; 101, Nose End; 103, Tail End; 12, Body; 121, Upper Shell; 123, Middle Frame; 1232, Main Shell; 1233, Second Shock Absorber Mounting Hole;

[0065] 1234. Second shock absorber mounting section; 1235. Support shell section; 124. Reception space; 125. Lower shell;

[0066] 1251, First clearance hole; 1252, Second positioning part; 1253, Positioning post; 1254, Second clearance hole; 1255, First protrusion; 1256, Third clearance hole; 1257, Second protrusion; 1258, Third protrusion; 13, Folding landing gear; 132, Landing gear drive 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, Rotating shaft; 154, Arm; 1541, Fourth protrusion; 1542, Left front arm; 1544, Right front arm; 1546, Left rear arm; 1548, Right rear arm; 16, Moving part; 17, Shock absorption assembly; 172 18. First shock-absorbing ball; 18. Second obstacle avoidance module; 181. Mounting base; 1812. First positioning part; 1813. Positioning hole; 1814. Buffer gap; 1815. Clearance notch; 1816. Supplementary lighting mounting hole; 183. Obstacle avoidance module; 1832. First lower camera; 1834. Second lower camera; 185. Distance measurement module; 1852. Transmitter; 1854. Receiver; 1856. Second circuit board; 187. Buffer component; 20. Bracket; 21. Mounting body; 211. First mounting hole; 2121. Heat conduction part; 2123. Heat dissipation fins; 2141. Lens mounting part; 2143. Shock-absorbing connection part; 23. Shock-absorbing component; 232. Second shock-absorbing ball; 25. Connecting frame; 2 51. Second mounting hole; 252. Mounting base; 2521. Main mounting plate; 2523. Side plate; 254. Mounting part; 256. Heat dissipation gap; 27. Protective shell; 29. ​​Front shell; 30. Power unit; 32. Drive component; 34. Propeller; 342. Left front rotor; 344. Right front rotor; 346. Left rear rotor; 348. Right rear rotor; 40. Indicator light; 41. First luminous area; 43. Second luminous 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. Transmission... 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, Main board; 110, Fill light; 1101, Fill light mounting hole; 1103, Lens; 1104, Light-incident surface; 1105, Light-exit surface; 120, Magnetometer; 200, Unmanned aerial vehicle; 201, Fuselage; 2012, Body; 2014, Support part; 2015, Movable support part; 202, Image acquisition device; 2021, Fisheye lens; 300, Panoramic shooting aircraft; 301, Fuselage; 3012, Body; 3014, First support part; 3016, Second support part;3018. Third support section; 302. Image acquisition device; 3021. First fisheye lens; 3023. Second fisheye lens. Detailed Implementation

[0067] To enable those skilled in the art 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 merely some embodiments of the present application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without creative effort are within the scope of protection of the present application.

[0068] If certain terms are used in the specification and claims to refer to specific components, those skilled in the art will understand that hardware manufacturers may use different names to refer to the same component. The specification and claims do not distinguish components based on differences in name, but rather on differences in function. For example, the term "comprising" used throughout the specification and claims is an open-ended term and should be interpreted as "including but not limited to"; "generally" means that those skilled in the art can solve the technical problem and basically achieve the technical effect within a certain margin of error.

[0069] Please see Figure 1 This application provides an unmanned aerial vehicle (UAV) 100 that can protect the lens while achieving panoramic shooting. This specification does not limit the specific type of the UAV 100; for example, the UAV 100 can be a fixed-wing UAV, a vertical takeoff and landing UAV, an unmanned airship, a multi-rotor UAV, an unmanned paraglider, etc. In this embodiment, the UAV 100 is a multi-rotor UAV.

[0070] Please also refer to Figure 1 , Figure 3 and Figure 4In this embodiment, the unmanned aerial vehicle (UAV) 100 may include a fuselage 10, a power unit 30, and an image acquisition device 50. The fuselage 10 may include a body 12 and at least three support sections 14, which are spaced apart from each other and respectively connected to the body 12. At least one of the at least three support sections 14 is a movable support section 141, which can move relative to the body 12 to a first position or a second position. The power unit 30 is connected to the body 12 and provides power for the UAV 100 to fly, enabling the UAV 100 to have a flight state and a stationary state. The image acquisition device 50 is disposed on the body 12 and may include a first fisheye lens 521 and a second fisheye lens 523. The first fisheye lens 521 and the second fisheye lens 523 are respectively disposed on both sides of the body 12. In flight mode, the second fisheye lens 523 is located on the downward-facing side of the body 12.

[0071] It should be noted that in the specification of this application, the directional terms such as "up" and "down" for the unmanned aerial vehicle 100 should be understood in terms of the orientation of the unmanned aerial vehicle 100 itself. Taking the unmanned aerial vehicle 100 in flight (including forward flight or hovering) as an example, the unmanned aerial vehicle 100 has a nose and a tail, and its forward flight direction is in front of the nose, which is the directional term "forward" in this specification. The "down" in this specification refers to the side of the unmanned aerial vehicle 100 facing downward in flight. For example, when the unmanned aerial vehicle 100 is flying over land, its "side facing downward" is the side "facing the ground", or when the unmanned aerial vehicle 100 is flying over water, its "side facing downward" is the side "facing the water surface". Similarly, based on the above-mentioned orientation of "forward" for the unmanned aerial vehicle 100, the directional terms "left" and "right" should be understood as the left and right sides of the unmanned aerial vehicle 100.

[0072] Specifically, in this embodiment, the second fisheye lens 523 is located on the side of the body 12 facing the ground. Please also refer to... Figure 5 and Figure 6 When the movable support 141 is in the first position, at least three supports 14 together define a reference plane a, which is higher than the lowest point of the second fisheye lens 523 (e.g., Figure 6 (as shown in (a)). Here, "the lowest point of the second fisheye lens 523" is understood as the lowest point in the spatial position of the second fisheye lens 523 in this state. For example, if the second fisheye lens 523 has a convex lens, the highest point of the convex surface of the convex lens can be understood as the lowest point of the second fisheye lens 523.

[0073] When the movable support 141 is in the second position, at least three support parts 14 jointly define the support plane b, which is located on the side of the second fisheye lens 523 opposite to the first fisheye lens 521 (e.g., Figure 6 (b) is shown.

[0074] The flight state of the unmanned aerial vehicle 100 is understood as the state in which the unmanned aerial vehicle 100 is suspended in the air under the action of the power unit 30, which may include forward flight state and hovering state (e.g., Figure 5 (a) shows the flight attitude. The parking state of the unmanned aerial vehicle 100 can be understood as the unmanned aerial vehicle 100 being stationary and placed on a flat surface, which can include the parking state waiting to take off, the landing state waiting to be stored (e.g., Figure 5 (b) shows the storage state, etc. When the movable support 141 is in the first position, the unmanned aerial vehicle 100 can be in flight or in a stationary state; when the movable support 141 is in the second position, the unmanned aerial vehicle 100 can be in flight or in a stationary state. As an example, the unmanned aerial vehicle 100 in the stationary state can be placed on a designated platform, such as on the ground or a table. In this case, when the movable support 141 is in the second position, the support plane b can basically coincide with the flat ground or table. At this time, at least three support parts 14 are used together to support the unmanned aerial vehicle 100. The support plane b is located on the side of the second fisheye lens 523 away from the first fisheye lens 521, so that the support plane b is located below the second fisheye lens 523.

[0075] Therefore, in this embodiment, when the unmanned aerial vehicle (UAV) 100 is in use, the power unit 30 provides the power for the UAV 100 to fly, enabling the UAV 100 to be in flight. The first fisheye lens 521 and the second fisheye lens 523 are respectively located on both sides of the body 12, that is, at the top and bottom of the body 12, respectively. The first fisheye lens 521 and the second fisheye lens 523 are used to acquire panoramic images. When the UAV 100 is in flight, the movable support 141 can be in the first position. At this time, at least three support parts 14 jointly define a reference plane a, which is higher than the lowest point of the second fisheye lens 523, thereby reducing the possibility of the three support parts 14 entering the field of view of the second fisheye lens 523. When the UAV 100 switches to a stationary state, when the movable support 141 is in the second position, at least three support parts 14 jointly define a support plane b, which is located on the side of the second fisheye lens 523 opposite to the first fisheye lens 521. When the unmanned aerial vehicle 100 is placed on the placement plane, and the movable support 141 is in the second position, the support plane b defined by 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. That is, the second fisheye lens 523 will not come into contact with the placement plane, collide with it, or be damaged.

[0076] Therefore, in the unmanned aerial vehicle 100 provided in this embodiment, when the movable support part 141 is in the first position, it can acquire panoramic images in flight mode. When the movable support part 141 is in the second position, it can protect the second fisheye lens 523 when the unmanned aerial vehicle 100 is placed on the placement plane, reducing the possibility of the second fisheye lens 523 being damaged by contact or collision with the placement plane, thereby improving the service life of the second fisheye lens 523.

[0077] Please also refer to Figure 4 and Figure 7 In this embodiment, the body 12 may 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 together define an installation space for the installation of internal components of the unmanned aerial vehicle 100.

[0078] For ease of understanding, the description is based on the unmanned aerial vehicle 100 in a hovering state. The upper shell 121 is located on the upward side of the unmanned aerial vehicle 100, and the lower shell 125 is located on the downward side of the unmanned aerial vehicle 100. The terms "upper" and "lower" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used for simplification in order to facilitate the description of this application and do not indicate or imply that the device or component referred to must have a specific orientation.

[0079] The unmanned aerial vehicle 100 also includes a sensor module 60, which is connected to the mid-frame 123. The sensor module 60 includes at least an inertial measurement unit (IMU). Inertial Measurement Unit IMU) 62 and Global Positioning System ( Global Positioning System The IMU 62 determines an object's spatial attitude by measuring acceleration and angular velocity, while the GPS 63 determines an object's position by receiving satellite signals.

[0080] In this embodiment, the sensor module 60 may further include a first circuit board 61, on which both the IMU 62 and GPS 63 are disposed. The first circuit board 61 is mounted on the mid-frame 123. The IMU 62 and GPS 63 can be connected to the first circuit board 61 by soldering. The IMU 62 and GPS 63 share a single first circuit board 61, resulting in a simple structure and a relatively light overall weight for the unmanned aerial vehicle. The first circuit board 61 can be directly connected to the mid-frame 123 or indirectly connected to the mid-frame 123 through other structures. In this embodiment, the first circuit board 61 is provided with a first shock-absorbing mounting part 612, and the mid-frame 123 is provided with a second shock-absorbing mounting part 1234. The fuselage 10 also includes a shock-absorbing assembly 17, with one side of the shock-absorbing assembly 17 disposed on the first shock-absorbing mounting part 612 and the other side disposed on the second shock-absorbing mounting part 1234. The GPS 63 and IMU 62 are modularly mounted on the first circuit board 61, which is connected to the mid-frame 123 via the shock-absorbing component 17. This improves the installation stability of the sensor module 60, reduces the impact of vibrations from other structures of the UAV 100 on the sensor module 60, and improves the accuracy of the sensor module 60 in measuring attitude and position information. On the other hand, it eliminates the need for additional dedicated brackets for mounting the GPS / IMU, thereby reducing the overall size and weight of the device and simplifying the installation process. Furthermore, since both the IMU 62 and GPS 63 are mounted on the first circuit board 61, the antenna of the GPS 63 can be used as a counterweight for the IMU 62, reducing the vibration of the IMU 62.

[0081] This specification does not limit the specific structure of the damping assembly 17. For example, the damping assembly 17 may include at least one of the following structures: damping ball, damping washer, damping sleeve, etc. In this embodiment, the damping assembly 17 includes a plurality of first damping balls 172. Please refer to [link / reference]. Figure 8The first shock-absorbing mounting part 612 is provided with multiple first shock-absorbing mounting holes 613, and multiple first shock-absorbing balls 172 are correspondingly arranged with the multiple first shock-absorbing mounting holes 613. The second shock-absorbing mounting part 1234 is provided with multiple second shock-absorbing mounting holes 1233, and multiple first shock-absorbing balls 172 are correspondingly arranged with the multiple second shock-absorbing mounting holes 1233. Each first shock-absorbing ball 172 has its corresponding first shock-absorbing mounting hole 613 and corresponding second shock-absorbing mounting hole 1233 embedded on both sides, and connects the first circuit board 61 and the middle frame 123, 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 for an additional separate bracket, which reduces the overall weight of the unmanned aerial vehicle 100 and also improves the connection structure strength of the fuselage 10.

[0082] In this embodiment, the first shock-absorbing mounting part 612 is a plate at the edge of the first circuit board 61, and a plurality of first shock-absorbing mounting holes 613 are formed at the edge of the first circuit board 61 and are arranged sequentially at intervals along the circumference of the first circuit board 61. As an example, the number of first shock-absorbing mounting holes 613 is four, and the four first shock-absorbing mounting holes 613 are respectively set at the four corners of the first circuit board 61. The first shock-absorbing mounting holes 613 penetrate the first circuit board 61 approximately along the yaw axis Y direction of the unmanned aerial vehicle 100.

[0083] The middle frame 123 may include a main shell portion 1232 and the aforementioned second shock-absorbing mounting portion 1234. The main shell portion 1232 serves as one of the frame structures for mounting the unmanned aerial vehicle 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 generally beam-shaped, and multiple second shock-absorbing mounting portions 1234 are provided. These multiple second shock-absorbing mounting portions 1234 are staggered within the main shell portion 1232 and located on the side of the sensor module 60 opposite to the upper shell 121 to support the sensor module 60. Second shock-absorbing mounting holes 1233 are formed in the second shock-absorbing mounting portions 1234 and penetrate the second shock-absorbing mounting portions 1234 along the yaw axis Y direction of the unmanned aerial vehicle 100. As an example, four second shock-absorbing mounting holes 1233 are provided, and the four second shock-absorbing mounting holes 1233 correspond one-to-one with the four first shock-absorbing mounting holes 613. The first damping ball 172 is respectively inserted through the first damping mounting hole 613 and the second damping mounting hole 1233 on both sides.

[0084] In this embodiment, the unmanned aerial vehicle 100 may further include an electronic speed controller 70, which is connected to the mid-frame 123. The electronic speed controller 70 and the sensor module 60 are arranged at intervals along the roll axis R of the unmanned aerial vehicle 100. The sensor module 60 is located approximately in the middle of the fuselage 10, and the electronic speed controller 70 is located near the tail end 103. The electronic speed controller 70 is used to finely adjust the input voltage of the power unit 30, thereby controlling the rotational speed and thrust of the propeller of the power unit 30.

[0085] The unmanned aerial vehicle (UAV) 100 also includes a battery 80, which is disposed within and connected to the mid-frame 123. When the UAV 100 is in flight, the battery 80 is located below the sensor module 60 and 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 disposed on the side of the second shock-absorbing mounting portion 1234 opposite to the sensor module 60. The second shock-absorbing mounting portion 1234 provides good constraint for the battery 80 and supports the sensor module 60. Specifically, in this embodiment, a battery compartment can be provided within the mid-frame 123 for installing the battery 80, and the battery compartment is located below the second shock-absorbing mounting portion 1234. For ease of maintenance and replacement, in this embodiment, the battery 80 is detachably disposed within the battery compartment. For example, the battery 80 can be connected to the mid-frame 123 via a snap-fit ​​structure. Furthermore, a movable cover or mounting port may be provided on the middle frame 123 near the rear end 103, so as to facilitate the removal and installation of the battery 80 from the movable cover or mounting port.

[0086] A reflective film 81 for reflecting electromagnetic signals is provided on the side of the battery 80 facing the sensor module 60. The reflective surface of the reflective film 81 is spaced apart from the GPS 63. The reflective film 81 is used to reflect electromagnetic signals, improve the signal strength of the GPS 63, and thus improve positioning accuracy. In this embodiment, the reflective film 81 can be a metal dielectric reflective film. For example, the reflective film 81 may include a metal film and a dielectric layer, with the dielectric layer disposed on the outside of the metal film (i.e., the side of the metal film facing away from the battery 80). The metal film may be made of at least one of aluminum, gold, silver, and copper, and the dielectric layer may be made of at least one of silicon monoxide, magnesium fluoride, silicon dioxide, and aluminum oxide.

[0087] The pitch axis P and roll axis R of the unmanned aerial vehicle 100 jointly define the first surface c. In this embodiment, the unmanned aerial vehicle 100 is in a hovering state. Please refer to [link / reference needed]. Figure 9The first surface c is parallel to the horizontal plane S. The battery 80 has a length direction E1, which intersects or is parallel to the first surface c. For example, the battery 80 is roughly prism-shaped, or roughly cuboid-shaped, and its length direction can be understood as the extension direction of the line containing its longer side (longer edge). The fuselage 10 has its forward end designated as the nose section 101 in the forward flight direction E2 of the unmanned aerial vehicle 100 (e.g.,...). Figure 3 As shown), the rear end is designated as the tail end 103. When the UAV 100 is hovering, the nose end 101 is slightly tilted upwards, and the battery 80 is tilted upwards along with the overall state of the aircraft. When the UAV 100 is flying forward, the fuselage 10 tends to tilt forward, and its nose end 101 will be slightly downwards. The tilt setting of the battery 80 in normal conditions (such as the tilt setting when hovering) causes the battery 80 to change its position relative to the horizontal plane S along with the fuselage 10 when it tilts forward. At this time, the battery 80 can be considered to be relatively flat (for example, the length direction E1 is set along the horizontal plane S, for example, parallel to the horizontal plane S). Therefore, the space occupied by the fuselage 10 as a whole or the battery 80 as a whole in the vertical direction is also relatively small, reducing the possibility that the battery 80 will fall into the field of view of the image acquisition device 50 when flying forward.

[0088] In some embodiments, the length direction E1 intersects the first surface c, and the included angle between the length direction E1 and the first surface c falls within any of the following angle ranges: [0°, 3°], [3°, 6°], [6°, 10°], [10°, 20°], [20°, 35°]. For example, the angle of 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 unmanned aerial vehicle 100 is in a hovering state, and the first surface c, the horizontal plane S, and the length direction E1 are constructed based on the same designated point, the side of the length direction E1 that is relatively closer to the front of the nose is located above the horizontal plane S, causing the battery 80 to be in an upward tilted state. It should be understood that when constructing the aforementioned surfaces and directions, the first surface c, the horizontal surface S, and the length direction E1 all pass through the designated point. This designated point can be a virtual point or based on a specific physical structure on the unmanned aerial vehicle 100 (for example, the designated point is a vertex of the battery 80).

[0089] Please refer to it again. Figure 7 and Figure 9In this embodiment, the unmanned aerial vehicle (UAV) 100 also includes a motherboard 90, which is connected to the mid-frame 123 and located on the side of the battery 80 away from the sensor module 60. The motherboard 90 is electrically connected to the battery 80. When the UAV 100 is in flight, the motherboard 90, battery 80, and sensor module 60 are arranged sequentially from bottom to top within the fuselage 10. The sequential stacking of the sensor module 60, battery 80, and motherboard 90 within the fuselage 100 improves the compactness of the internal structure, thereby reducing the overall size of the UAV.

[0090] In some embodiments, the image processing system, flight control system, and image transmission system of the unmanned aerial vehicle 100 can be mounted on the motherboard 90. The plane on which the motherboard 90 is located intersects with the first surface c. For example, the motherboard 90 is roughly rectangular, and the plane on which it is located can be understood as the plane containing its larger surface area. The included angle between the plane on which the motherboard 90 is located and the first surface c is within any of the following angle ranges: (0°, 3°), [3°, 6°], [6°, 10°], [10°, 20°], [20°, 35°]. For example, the included angle between the plane on which the motherboard 90 is located and the first surface 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 a hovering state, based on the same When constructing the first surface c, the horizontal surface S, and the plane containing the motherboard 90 at the designated point, the side of the plane containing the motherboard 90 that is relatively closer to the front of the nose is located above the horizontal surface S, causing the motherboard 90 to be in an upward-tilting state. It should be understood that when constructing the aforementioned surfaces and directions, the first surface c, the horizontal surface S, and the plane containing the motherboard 90 all pass through the designated point. This designated point can be a virtual point or based on a specific physical structure on the unmanned aerial vehicle 100 (for example, the designated point is a vertex of the motherboard 90).

[0091] Therefore, in some embodiments of this application, the motherboard 90, battery 80 and sensor module 60 are all tilted, and the motherboard 90 and battery 80 are roughly parallel to each other, which can meet the requirements of not falling into the field of view of the first fisheye lens 521 and the second fisheye lens 523 with a smaller volume, thereby reducing the overall size of the unmanned aerial vehicle 100.

[0092] Please also refer to Figure 10 and Figure 11 In this embodiment, the unmanned aerial vehicle 100 may further include a second obstacle avoidance module 18, which is connected to the fuselage 10 and is used to identify the environment and avoid obstacles. When the unmanned aerial vehicle 100 is in a hovering state, the second obstacle avoidance module 18 is located on the downward-facing side of the fuselage 10.

[0093] The second obstacle avoidance module 18 may include a mounting base 181, an obstacle avoidance module 183, and a distance measurement (…). Time of Flight The obstacle avoidance module 183 and the distance measurement module 185 are mounted on a mounting base 181 connected to the fuselage 10. The obstacle avoidance module 183 and the distance measurement module 185 are both mounted on the mounting base 181. The obstacle avoidance module 183 and the distance measurement module 185 share a single mounting base 181, which simplifies the installation structure and reduces the overall weight of the unmanned aerial vehicle 100.

[0094] Specifically, in this embodiment, the second obstacle avoidance module 18 is disposed within 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 part 1812, and the body 10 is provided with a second positioning part 1252, the second positioning part 1252 being confined within the first positioning part 1812. The mounting base 181 is generally plate-shaped, and the second positioning part 1252 is disposed within the lower shell 125. This specification does not limit the specific structure of the first positioning part 1812 and the second positioning part 1252. For example, the first positioning part 1812 may include a positioning hole or a positioning slot, and the second positioning part 1252 may include a positioning post or a positioning pin corresponding to the positioning hole or the positioning slot. In this embodiment, one of the first positioning part 1812 and the second positioning part 1252 is a positioning hole 1813 disposed in the mounting base 181, and the other is a positioning post 1253 protruding from the body 10, the positioning post 1253 being inserted into the positioning hole 1813.

[0095] When the first positioning part 1812 is a positioning hole 1813 formed in the mounting base 181, the first positioning part 1812 penetrates the mounting base 181 approximately along the yaw axis Y. Multiple first positioning parts 1812 are provided, and the multiple first positioning parts 1812 are arranged sequentially at intervals along the circumference of the mounting base 181. The second positioning part 1252 is a positioning post 1253 integrally formed (e.g., by injection molding) in the lower shell 125, and the positioning post protrudes relative to the inner wall of the lower shell 125. When the mounting base 181 is installed on the lower shell 125, the second positioning part 1252 is embedded within the first positioning part 1812.

[0096] In this embodiment, the second obstacle avoidance module 18 further includes a buffer 187, which is disposed between the mounting base 181 and the lower shell 125 to achieve a vibration damping effect on the second obstacle avoidance module 18 on the mounting base 181. As an example, when the positioning post 1253 is inserted into the positioning hole 1813, there is a buffer gap 1814 between the positioning post 1253 and the hole wall of the positioning hole 1813. The buffer 187 is sleeved on the positioning post 1253 and located within 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 clearance notch 1815, so that the first positioning part 1812 is generally an open annular structure. The clearance notch 1815 connects to the buffer gap 1814 to expose the sidewall of the buffer 187. The buffer 187 enables a flexible connection between the mounting base 181 and the lower shell 125. This reduces the impact of the vibration of the lower shell 125 on the second obstacle avoidance module 18 during the flight of the unmanned aerial vehicle 100.

[0097] Therefore, in this embodiment, the inner diameter of the positioning hole 1813 is larger than the outer diameter of the positioning post 1253. When the positioning post 1253 is inserted into the positioning hole 1813, the aforementioned buffer gap 1814 exists between the inner wall of the positioning hole 1813 and the outer wall of the positioning post 1253. The centers of the positioning hole 1813 and the positioning post 1253 are approximately collinear, making the buffer gap 1814 approximately annular. Further, a clearance notch 1815 is formed in the mounting base 181 and penetrates the mounting base 181 radially along the mounting hole 1813, making the buffer gap 1814 C-shaped. In this embodiment, the buffer member 187 includes a buffer sleeve, which is disposed on the positioning post 1253 and located within the buffer gap 1814. At least a portion of the sidewall of the buffer member 187 is exposed through the clearance notch 1815. If the lower shell 125 vibrates, the vibration value is transmitted through the positioning post 1253 when the mounting base 181 is installed. The buffer 187 buffers the force transmitted by the positioning post 1253, reducing the impact on the second obstacle avoidance module 18. The clearance notch 1815 can make way for the deformation of the buffer 187 during the buffering process, thereby improving the buffering capacity of the buffer 187.

[0098] Furthermore, the elastic modulus of the buffer 187 is lower than that of the mounting base 181. The buffer 187 is fixedly connected to the mounting base 181 by an integral molding process, which may include any one of two-shot molding, insert molding, or injection molding. The integral molding of the buffer 187 onto the mounting base 181 improves assembly convenience and reduces part weight. In this embodiment, the mounting base 181 can be a metal base or a plastic base.

[0099] In this embodiment, the obstacle avoidance module 183 includes a first lower camera 1832 and a second lower camera 1834. The first lower camera 1832 and the second lower camera 1834 are arranged at intervals along the roll axis R of the unmanned aerial vehicle 100 on the side of the mounting base 181 facing the lower shell 125. It should be understood that the phrase "arranged at intervals along the roll axis R" as used in this specification should be broadly interpreted as meaning that the two components are spaced apart in the direction of the roll axis R, rather than strictly limiting the two components to be linearly arranged along 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 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°).

[0100] [3°, 6°], [6°, 10°], [10°, 20°], [20°, 35°]. For example, the 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.

[0101] The optical axis of the first lower camera 1832 and / or the optical axis of the second lower camera 1834 are approximately parallel to the yaw axis Y. To facilitate shooting by the first lower camera 1832 and the second lower camera 1834, in this embodiment, a first clearance hole 1251 is provided on the lower housing 125, penetrating the lower housing 125. There are two first clearance holes 1251, arranged approximately along the roll axis R and corresponding 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 each capture images through the two first clearance holes 1251.

[0102] Please also refer to Figure 11 and Figure 12The unmanned aerial vehicle 100 may also include a supplementary light 110, which can be positioned on the downward-facing side of the fuselage 10 to supplement light in the shooting scene and improve the shooting effect. In this embodiment, the supplementary light 110 is positioned on the fuselage 10 and located between the first lower camera 1832 and the second lower camera 1834. The light spot of the supplementary light 110 can cover the field of view of the obstacle avoidance module 183, improving the obstacle avoidance accuracy of the obstacle avoidance module 183. The fuselage 10 may be provided with a supplementary light mounting hole 1816. The supplementary light 110 may include a light-emitting unit 1101 and a lens 1103. The light-emitting unit 1101 is disposed in the supplementary light mounting hole 1816, and the lens 1103 is located on the side of the light-emitting unit 1101 facing the outside of the supplementary light mounting hole 1816. The lens 1103 includes a light-incident surface 1104 and a light-emitting surface 1105 facing away from each other. The light-incident surface 1104 is a curved surface (e.g., Figure 12 (b) As shown, the light source 1105 faces the light-emitting unit 1101 and is a flat surface. The light-incident surface 1104 is a curved surface and the light-emitting surface 1105 is a flat surface, so that the fill light 110 has a flat-head fill light structure. 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.

[0103] The lens 1103 described above may be a Fresnel lens, with one side of its curved surface facing the light-emitting unit 1101, which may include one or more LED beads. In some other embodiments, the supplementary light 110 may include a concave lens, with the light-incident surface 1104 being a concave curved surface. The concave lens is used to diffuse light and expand the illumination range.

[0104] A supplementary lighting mounting hole 1816 is provided on the side of the mounting base 181 facing the lower housing 125. The lower housing 125 may also be provided with a second clearance hole 1254 for accommodating the supplementary lighting lamp 110. The second clearance hole 1254 penetrates the lower housing 125, and the supplementary lighting lamp 110 provides supplementary lighting to the obstacle avoidance module 183 through the second clearance hole 1254. In other embodiments, the supplementary lighting mounting hole 1816 may be provided on the lower housing 125, and the supplementary lighting lamp 110 may be directly mounted on the lower housing 125.

[0105] In this embodiment, the distance measurement module 185 includes a transmitter 1852, a receiver 1854, and a second circuit board 1856. The second circuit board 1856 is connected to the mounting base 181. The transmitter 1852 and the receiver 1854 are arranged at intervals along the pitch axis P on the second circuit board 1856. The transmitter 1852 is used to transmit signals to the target object, and the receiver 1854 is used to receive signals reflected back from the target object. The distance measurement module 185 can obtain the distance between the unmanned aerial vehicle 100 and the target object. It can detect distances when the unmanned aerial vehicle 100 lands or to detect the distances of obstacles below the unmanned aerial vehicle 100.

[0106] The distance measurement module 185 is connected to the mounting base 181 on the side facing the lower housing 125, and is located between the first lower camera 1832 and the second lower camera 1834. To facilitate signal transmission and reception by the distance measurement module 185, in this embodiment, a third clearance hole 1256 is also provided on the lower housing 125, penetrating the lower housing 125. There are two third clearance holes 1256, arranged along the pitch axis P and corresponding 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 clearance holes 1256 respectively.

[0107] Please refer to it again. Figure 3 , Figure 5 and Figure 6 In this embodiment, the fuselage 10 may further include a movable member 16, which is movably connected to the body 12. A movable support 141 is disposed on the movable member 16, and the movable member 16 is movable relative to the body 12 to allow the movable support 141 to be in a first position or a second position. The movable support 141 achieves switching between the first and second positions through the movable member 16, thereby enabling it to not interfere with the panoramic shooting of the UAV 100 in the first position, and to support the UAV 100 to protect the second fisheye lens 523 in the second position.

[0108] In this application, unless otherwise expressly specified or limited, the terms "installation," "connection," "linking," and "fixation," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection via an intermediate medium; a connection within two components; or merely surface contact. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. The term "installed" in the phrase "movable support 141 is installed on movable member 16" can mean either a direct connection or an indirect connection via an intermediate medium.

[0109] The support portion 14 may include the aforementioned movable support portion 141 and fixed support portion 143. This specification does not limit the specific number and combination of the movable support portion 141 and fixed support portion 143 among the multiple support portions 14. Multiple movable support portions 141 and multiple fixed support portions 143 may be provided. It should be understood that the aforementioned "first position" and "second position" are relative to each movable support portion 141. That is, each movable support portion 141 has its own "first position" and "second position" when it moves relative to the body 12. Furthermore, the movable support portion 141 may be provided on the movable member 16 to realize the movement relative to the body 12 based on the movable member 16.

[0110] As an example, at least three movable parts 16 are provided, and at least three of the at least three support parts 14 are movable support parts 141, which are respectively provided on different movable parts 16. At least three of the at least three support parts 14, based on their corresponding movable parts 16, can move relative to the body 12 to a first position and a second position. When all at least three movable support parts 141 are in their respective first positions, the UAV 100 can be in flight, and the reference plane a jointly defined by the at least three support parts 14 is higher than the lowest point of the second fisheye lens 523, reducing the impact on the second fisheye lens 523's imaging. When all at least three movable support parts 141 are in their second positions, the UAV 100 can be in a stationary state, and the support plane b jointly defined by the at least three support parts 14 is lower than the lowest point of the second fisheye lens 523, preventing the second fisheye lens 523 from colliding with the placement plane.

[0111] In another embodiment, the number of movable parts 16 is multiple, with at least two of the at least three support parts 14 being movable support parts 141, while the other support parts 14 are not restricted to either a movable or fixed state. Among the at least three support parts 14, the two movable support parts 141 are respectively disposed on different movable parts 16. At least two of the at least three support parts 14 can move relative to the body 12 to their respective first and second positions. When both at least two movable support parts 141 are in their respective first positions, the unmanned aerial vehicle 100 can be in flight, and the reference plane a jointly defined by the at least three support parts 14 is higher than the lowest point of the second fisheye lens 523. When both at least two movable support parts 141 are in their respective second positions, the unmanned aerial vehicle 100 can be in a stationary state, and the support plane b jointly defined by the at least three support parts 14 is lower than the lowest point of the second fisheye lens 523.

[0112] In this 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, which is fixedly disposed on the body 12. This specification does not limit the specific combination of the at least three support portions 14. For example, there may be two movable support portions 141, or three movable support portions 141 if the number of support portions 14 is greater than three. As an example, three support portions 14 are provided, two of which are movable support portions 141 disposed on the movable part 16, and one is a fixed support portion 143 fixed to the body 12. When the two movable support portions 141 are in the first position, they together with the fixed support portion 143 define a reference plane a; when the two movable support portions 141 are in the second position, they together with the fixed support portion 143 define a support plane b.

[0113] This specification does not limit the specific structure of the support part 14. The support part 14 can be a support protrusion, a support rod, a support point, etc. In this embodiment, the support part 14 is a support point. When the movable support part 141 is in the second position, it is the lowest point of the structure of the fuselage 10, such as the lowest point of the body 12, the lowest point of the movable part 16, etc.

[0114] This specification does not limit the specific location of the fixed support 143; as an example, such as... Figure 13 As shown in (a), the body 12 may be provided with a first protrusion 1255. When the unmanned aerial vehicle 100 is in flight, the first protrusion 1255 is located at the bottom of the body 12 (the side of the body 12 facing downwards) and protrudes relative to the surface of the body 12, and the fixed support part 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 part 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 a hovering state.

[0115] This specification does not limit the specific connection method between the first protrusion 1255 and the lower shell 125. For example, the first protrusion 1255 can be a support block, support column, etc., fixedly connected to the lower shell 125 by a connection process or connection structure. Alternatively, the first protrusion 1255 can also be integrally formed into the lower shell 125. In some other embodiments, the fixed support part 143 can also be the lowest point of the lower shell 125 when the unmanned aerial vehicle 100 is in flight.

[0116] In some embodiments, two of the at least three support portions 14 are fixed support portions 143, one of the at least three support portions 14 is a movable support portion 141, both fixed support portions 143 are fixedly disposed on the body 12, and the movable support portion 141 is disposed on the movable member 16. Figure 13 As shown in (b), the body 12 may be provided with a second protrusion 1257 and a third protrusion 1258. When the unmanned aerial vehicle 100 is in flight, 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 fixed support portion 143 is located at the protruding end of the second protrusion 1257, and another fixed support portion 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 flight, one fixed support portion 143 is the lowest point of the end of the second protrusion 1257 away from the lower shell 125, and the other fixed support portion 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 on the lower shell 125.

[0117] Please also refer to Figure 3 and Figure 4 This specification does not limit the specific structure of the movable component 16. For example, the movable component 16 can be a telescopic component or a flipping component disposed on the body 12. In this embodiment, the body 10 may include a plurality of folding arms 15 connected to the body 12. The plurality of folding arms 15 can move relative to the body 12 to be in an unfolded state or a folded state. A power unit 30 is disposed on the plurality of folding arms 15, and at least one of the plurality of folding arms 15 constitutes the aforementioned movable component 16. A movable support 141 is disposed on the folding arm 15. The folding arm 15 can move relative to the body 12 to switch between an unfolded state and a folded state. During the switching process, the folding arm 15 can drive the movable support 141 to switch between a first position and a second position. When in use, the folding arm 15 is in an unfolded state, with the movable support 141 in the first position. When the unmanned aerial vehicle 100 is stored, the folding arm 15 can move relative to the body 12 to be in a folded state, with the movable support 141 in the second position. This can reduce the overall space occupied by the unmanned aerial vehicle 100 and make the unmanned aerial vehicle 100 easier to store.

[0118] In this embodiment, the folding arm 15 may include a pivot 152 (e.g., Figure 7(As shown) and arm 154, which is rotatably connected to the body 12 via a pivot 152. Arm 154 can rotate relative to the body 12 about the pivot 152. When the unmanned aerial vehicle 100 is in the retracted state, the folding arm 15 is in the folded state (as shown). Figure 4 As shown, the arm 154 is close to the body 12. When the UAV 100 is ready to take off, the arm 154 moves relative to the body 12 to switch from a folded state to an unfolded state. Then, the power unit 30 provides flight power to the UAV 100 to enable it to take off. After the flight is completed, the power unit 30 drives the UAV 100 to land. After landing and coming to a complete stop, if it is necessary to store the UAV 100, the arm 154 moves back to a folded state relative to the body 12 to reduce the overall space occupied by the UAV and reduce the possibility of damaging the folded arm 154 during storage.

[0119] The parking states of the unmanned aerial vehicle 100 include the standby state (such as...) Figure 5 (b) shows the folding and stowed states. When the UAV 100 is in the ready-to-fly state, the folding arm 15 is in the unfolded state; when the UAV 100 is in the stowed state, the folding arm 15 is in the folded state. The flight states of the UAV 100 include forward flight state and hovering state. When the UAV 100 is in both forward flight state and hovering state, the folding arm 15 is in the unfolded state.

[0120] When the movable support 141 is in the first position, the folding arm 15 is in an unfolded state (the UAV 100 can be in a ready-to-fly or forward-flying state). At this time, the movable support 141 and the fixed support 143 can form a reference plane a, reducing the impact on panoramic photography. In some embodiments, when the UAV 100 is in a ready-to-fly state, the folding arm 15 is in an unfolded state. At this time, the movable support 141 is in the first position, but the movable support 141 and the fixed support 143 do not form a reference plane a. The movable support 141 can contact the placement plane of the UAV 100 to support the UAV 100, thereby avoiding damage to the second fisheye lens 523.

[0121] When the movable support 141 is in the second position, the folding arm 15 is folded. At this time, the movable support 141 and the fixed support 143 form a support plane b to support the unmanned aerial vehicle 100 and prevent damage to the second fisheye lens 523. When the movable support 141 is in the second position, the unmanned aerial vehicle 100 can be in a stowed state.

[0122] Please also refer to Figure 3 , Figure 4 and Figure 14Specifically, in this embodiment, the pivot 152 can be connected to the middle frame 123, and the machine arm 154 is rotatably connected to the middle frame 123 via the pivot 152. This specification does not limit the specific number of folding machine arms 15; for example, the number of folding machine arms 15 can be four or six. In this embodiment, the number of folding machine arms 15 is four, and the number of machine arms 154 is also four, arranged circumferentially along the body 12. Specifically, the four machine arms 154 may include a left front machine arm 1542, a right front machine arm 1544, a left rear machine arm 1546, and a right rear machine arm 1548. The left front machine arm 1542 and the right front machine arm 1544 are located on both sides of the head end 101, and the left rear machine arm 1546 and the right rear machine arm 1548 are located on both sides of the tail end 103. This manual does not restrict the specific installation position of the four arms 154; the specific position can be adjusted according to the power unit 30 or the center of gravity of the whole machine.

[0123] This specification does not limit the specific method of rotating the arm 154. For example, the operator can manually change the state of the arm 154, manually unfolding it when the UAV 100 is ready for takeoff, and manually rotating it to a folded position before storage. Furthermore, an elastic component can be provided between the arm 154 and the middle frame 123 (or between the arm 154 and the pivot 152), so that when the operator manually unfolds the arm 154, only a slight force is required for the arm 154 to automatically unfold (or fold) into place under the action of the elastic component. In other embodiments, the arm 154 can also automatically unfold or fold. For example, the folding arm 154 can include a drive mechanism, which can include a drive source, such as a rotary motor or rotary cylinder, which can be directly connected to the pivot of the arm 154. Alternatively, the drive mechanism can also include a transmission component, such as a gear or screw, with the drive source connected to the arm 154 through the transmission component.

[0124] This manual describes the axis O1 of rotating shaft 152 (e.g., Figure 7 The specific direction (shown) is not limited; as an example, axis O1 can be parallel to the yaw axis Y of the UAV 100. During storage, the left front arm 1542 and right front arm 1544 rotate backward to approach the body 12, and the left rear arm 1546 and right rear arm 1548 rotate forward to approach the body 12. To further reduce the space occupied by the UAV 100 during storage, the left front arm 1542 and left rear arm 1546 are arranged side-by-side along the yaw axis Y on the same side of the body 12, and the right front arm 1544 and right rear arm 1548 are arranged side-by-side along the yaw axis Y on the other side of the body 12, reducing the overall width of the UAV 100 during storage.

[0125] The axis O1 is parallel to the yaw axis Y of the unmanned aerial vehicle (UAV) 100. When the UAV 100 is in flight, the movable support 141 is located on the downward-facing side of the arm 154. This specification does not limit the specific position of the movable support 141 on the arm 154. For example, in flight, the movable support 141 can be the lowest point of the downward-facing surface of the arm 154. In other embodiments, in flight, the movable support 141 can also be the lowest point of a protrusion on the arm 154. Specifically, the arm 154 may have a fourth protrusion 1541, which protrudes relative to the surface of the arm 154. In flight, the movable support 141 is located at the downward-facing end of the fourth protrusion 1541. The movable support 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 a hovering state.

[0126] This specification does not limit the specific location of the fourth protrusion 1541 on the arm 154. Taking flight mode as an example, the fourth protrusion 1541 can be located below, above, or on the side wall of the arm 154. It should be noted that the fourth protrusion 1541 can be located on the drive component 32 or propeller 34 of the power unit 30 on the arm 154. This specification does not limit the specific connection method between the fourth protrusion 1541 and the arm 154 or the power unit 30. For example, the fourth protrusion 1541 can be a support block, support column, etc., fixedly connected to the arm 154 or the power unit 30 through a connection process or connection structure. Alternatively, the fourth protrusion 1541 can also be integrally formed on the arm 154.

[0127] In other embodiments, axis O1 may also intersect with yaw axis Y, which increases the height difference between the lowest points of arm 15 in the deployed and folded states. This specification does not limit the specific range of the angle between axis O1 and yaw axis Y; the angle between axis O1 and yaw axis Y can fall within any of the following angle ranges: (0°, 3°), [3°, 6°], [6°, 10°].

[0128] [10°, 20°]. For example, the angle between axis O1 and yaw axis Y can be 1°, 2°, 3°, 4°, 5°, 6°, 7°, 8°, 9°, 10°, 15°, 20°, etc.

[0129] In some embodiments, axis O1 may be parallel to the first surface c. The arm 154 can rotate relative to the body 12 around axis O1 to switch between an extended and folded state. In this embodiment, axis O1 may be parallel to the pitch axis P or roll axis R, and the arm 154 can be rotated to the top or bottom of the body 12 for storage. In flight, the folded arm 154 is in an extended state, and the arm 154 is rotated so that one end is away from the body 12. At this time, the movable support 141 is located at the highest point of the side of the arm 154 facing away from the ground.

[0130] In other embodiments, axis O1 intersects with the first surface c. This specification does not limit the specific range of the angle between axis O1 and the first surface c. The angle between axis O1 and the first surface c can fall into any of the following angle ranges: (0°, 3°), [3°, 6°], [6°, 10°].

[0131] [10°, 20°]. For example, the angle between axis O1 and the first surface c can be 1°, 2°, 3°, 4°, 5°, 6°, 7°, 8°, 9°, 10°, 15°, 20°, etc.

[0132] In this embodiment, a power unit 30 is disposed on the arm 154 and is used to provide flight power for the unmanned aerial vehicle 100. The power unit 30 may include a drive member 32 and a propeller 34. The drive member 32 is connected between the arm 154 and the propeller 34 and is used to drive the propeller 34 to rotate. A movable support 141 may be disposed at the end of the arm 154 or on the drive member 32. The drive member 32 can move with the arm 154 relative to the body 12, thereby changing the position of the movable support 141. In flight mode, the drive member 32 is located below the propeller 34, and the movable support 141 is located at the lowest point on the side of the drive member 32 facing the ground. In this embodiment, the axis O1 is parallel to the yaw axis Y. Even when the arm 154 moves relative to the body 12 to a folded state, the movable support 141 remains at the lowest point on the side of the drive member 32 facing the ground. The drive member 32 may be a rotary motor.

[0133] In another embodiment, when the unmanned aerial vehicle 100 is in flight, the drive member 32 is located below the propeller 34, and the movable support 141 is located at the highest point on the side of the drive member 32 facing away from the ground. In this embodiment, the axis O1 can be parallel to the first surface c. When the arm 154 rotates relative to the arm 12 to the folded state, the drive member 32 flips over, and the highest point in the unfolded state becomes the lowest point in the folded state. At this time, the movable support 141 is located at the lowest point on the side of the drive member 32 facing the ground.

[0134] The number of propellers 34 is set to multiple groups, and each group of propellers 34 may include multiple blades. For example, each group of propellers 34 may include two blades; or, each group of propellers 34 may include three or four blades. Please also refer to... Figure 3 and Figure 15 In the hovering state, each propeller 34 generates a thrust f. The point of application of f is approximately at the shaft of the output end of its corresponding drive unit 32 (e.g., the shaft of a rotary motor). The resultant force F of the thrust f generated by the four propellers 34 balances the gravity G of the unmanned aerial vehicle 100, allowing the unmanned aerial vehicle 100 to hover stably in the air. At this time, the resultant force F of the thrust f generated by the four propellers 34 is the thrust F applied by the power unit 30 to the entire 100, and its point of application is equivalent to the thrust center FO. Therefore, the power unit 30 can be regarded as having a thrust center FO. Multiple propellers 34 are distributed on the outer periphery of the fuselage 10 and together form the thrust center FO. Each propeller 34 has a rotation shaft O2 in the flight state. The rotation shaft O2 is the shaft of the output end of the corresponding drive unit 32 (e.g., the shaft of a rotary motor). The thrust f generated by the propellers 34 is collinear with the rotation shaft O2.

[0135] The number of power units 30 can be multiple. In this embodiment, the number of power units 30 is the same as the number of folding arms 15. For example, both the number of power units 30 and the number of arms 154 are four. Please refer to [link / reference]. Figure 14The four power units 30 include four sets of propellers 34 and four drive units 32, each connected to one of the four sets of propellers 34. The four sets of propellers 34 are connected to one of the four arms 154, each consisting of 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 located on either side of the nose section 101, and the left rear rotor 346 and the right rear rotor 348 are located on either side of the tail section 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 wheelbase H. In the hovering state, the maximum distance D between the multiple thrust centers FO and the center of gravity GO of the UAV 100 satisfies: D≤5%*H. It should be understood that there is a corresponding wheelbase between any two of the multiple sets of propellers 34. That is, the distance between the rotation axes O2 of any two sets of propellers 34 is called the wheelbase. Therefore, the combination of two sets of propellers 34 will produce multiple wheelbases, and the aforementioned wheelbase H is the largest of the multiple wheelbases. In this embodiment, the hovering state should be understood as the unmanned aerial vehicle hovering in the air without interference from external forces such as wind. At this time, the maximum distance D between the multiple tension centers FO and the center of gravity GO of the unmanned aerial vehicle 100 satisfies: D≤5%*H, which further reduces the weight of the unmanned aerial vehicle 100 and makes the unmanned aerial vehicle 100 lighter.

[0136] Please also refer to Figure 4 and Figure 14 In some embodiments, the fuselage 10 may further include a folding landing gear 13 connected to the fuselage 12. The folding landing gear 13 is movable relative to the fuselage 12 to be in a supported state or a retracted state. The folding landing gear 13 may constitute the aforementioned movable member 16. When the folding landing gear 13 is in the supported state, the movable support portion 141 is located at the lowest point of the folding landing gear 13, which is the second position of the movable support portion 12. The movable support portion 141 is disposed on the folding landing gear 13, and the folding landing gear 13 is movable relative to the fuselage 12 to switch between the supported state and the retracted state. During the switching process, the folding landing gear 13 can drive the movable support portion 141 to switch between the first position and the second position.

[0137] When the unmanned aerial vehicle 100 is in a ready-to-fly state, the folding landing gear 13 is in a supported state; when the unmanned aerial vehicle 100 is in a stowed state, the folding landing gear 13 is in a retracted state. When the unmanned aerial vehicle 100 is in flight (including forward flight and hovering states), the folding landing gear 13 is always in a retracted state.

[0138] When the movable support 141 is in the first position, the folding landing gear 13 is in a retracted state. The movable support 141 and the fixed support 143 form a reference plane a, avoiding any impact on panoramic photography. At this time, the UAV 100 can be in any of the following states: forward flight, hovering, or stowed. When the movable support 141 is in the second position, the folding landing gear 13 is in a supported state. The movable support 141 and the fixed support 143 form a support plane b to support the UAV 100 and prevent damage to the second fisheye lens 523. At this time, the UAV 100 can be in a ready-to-fly state or a stowed state.

[0139] When the UAV 100 is in flight, the folding landing gear 13 is in a retracted state and will not enter the field of view of the second fisheye lens 523, thus not affecting panoramic photography. When the UAV 100 is in a ready-to-fly state (e.g.) Figure 5 (b) As shown, the folding landing gear 13 is deployed to support the unmanned aerial vehicle 100 and prevent damage to the second fisheye lens 523. When the unmanned aerial vehicle 100 is stowed (as shown in [example]), Figure 4 As shown, the folding landing gear 13 can move relative to the fuselage 12 to be in a folded state, reducing the overall space occupied by the unmanned aerial vehicle 100 and making the unmanned aerial vehicle 100 easier to store.

[0140] In this embodiment, the folding landing gear 13 may include a landing gear drive mechanism 132 and a landing gear 134, with the landing gear 134 rotatably connected to the fuselage 12. The landing gear drive mechanism 132 is connected between the fuselage 12 and the landing gear 134, and is used to drive the landing gear 134 to rotate relative to the fuselage 12. When the UAV 100 is in the retracted state, the folding landing gear 13 is in the retracted state, with the landing gear 134 close to the fuselage 12. When the UAV 100 is ready for takeoff, the landing gear drive mechanism 132 drives the landing gear 134 to move relative to the fuselage 12 to switch from the retracted state to the supported state. Then, the power unit 30 provides flight power to the UAV 100 to take off. During takeoff, the landing gear drive mechanism 132 drives the landing gear 134 to move relative to the fuselage 12 to switch from the supported state to the retracted state, avoiding interference with panoramic photography. After completing the flight, the power unit 30 drives the unmanned aerial vehicle 100 to land. During the landing, the landing gear drive mechanism 132 again drives the landing gear 134 to move relative to the body 12 to a supported state to protect the second fisheye lens 523. In some embodiments, in order to further reduce the overall space occupied by the unmanned aerial vehicle 100 when it is stowed, the bottom shell 125 may be provided with a recessed part, such as a groove, to accommodate the landing gear 134 in the stowed state.

[0141] Specifically, in this embodiment, the landing gear 134 is rotatably connected to the lower housing 125, and the landing gear 134 has a connecting end 1341 and a free end 1343 (e.g., ...). Figure 4 As shown, the connecting end 1341 is connected to the lower housing 125, for example, rotatably connected to the lower housing 125 via a pivot. The landing gear 134 can also be detachably connected to the lower housing 125 for easy replacement when worn. When the landing gear 134 moves relative to the fuselage 12, the free end 1343 can move away from or closer to the fuselage 12. The landing gear drive mechanism 132 can be disposed within the fuselage 12 and drivenly connected to the landing gear 134. This specification does not limit the specific number of folding landing gear 13s; for example, the number of folding landing gear 13s can be one, two, three, four, etc. In this embodiment, the number of folding landing gear 13s is set to two, and the number of landing gear 134 is also set to two. The two landing gear 134s are arranged along the pitch axis P. Specifically, the two landing gear 134s can be disposed at the end of the fuselage 12 near the nose end 101, working together with the fixed support part 143 at the bottom of the fuselage 12 to support the unmanned aerial vehicle 100. This manual does not impose any restrictions on the specific installation positions of the two landing gears 134; these positions can be adjusted according to the overall center of gravity of the aircraft.

[0142] The landing gear drive mechanism 132 can be housed within the fuselage 12, for example, on the lower shell 125. This specification does not limit the specific structure of the landing gear drive mechanism 132. For example, the landing gear drive mechanism 132 may include a drive source, which may include a rotary motor, servo motor, rotary cylinder, etc., and can be directly connected to the rotating shaft of the landing gear 134. Alternatively, the landing gear drive mechanism 132 may also include a transmission assembly, which may include gears, screws, or other transmission structures, and the drive source is connected to the landing gear 134 through the transmission assembly.

[0143] In some embodiments, the two landing gears 134 can be driven by a single landing gear drive mechanism 132. For example, the landing gear drive mechanism 132 includes a drive source and a drive shaft connected between the two landing gears 134 and driven by the drive source. The two landing gears 134 are driven coaxially, which improves support stability and reduces the overall weight of the aircraft.

[0144] As described above, the folding landing gear 13 can drive the movable support 141 to switch between the first and second positions during the switching process. When the folding landing gear 13 is in the supported state, the movable support 141 is located at the lowest point of the folding landing gear 13, that is, the lowest point of the free end 1343 of the folding landing gear 13. In some embodiments, the fixed support 143 can be provided at the connecting end 1341 of the folding landing gear 13. When the UAV 100 is in the retracted state, the folding landing gear 13 is in the folded state. At this time, both the free end 1343 and the connecting end 1341 are close to the fuselage 12, and the connecting end 1341 protrudes from the lower shell 125. The fixed support 143 is located at the lowest point of the connecting end 1341. It can cooperate with other fixed support 143s on the fuselage 12 to form a support plane b lower than the second fisheye lens 523, or it can cooperate with the movable support 141 on the folding arm 15 or the power unit 30 to form a support plane b.

[0145] In this embodiment, at least three support portions 14 collectively define a support plane b for supporting the unmanned aerial vehicle 100 to protect the second fisheye lens 523. The at least three support portions 14 include a movable support portion 141 and a fixed support portion 143. The positions of the movable support portion 141 and the fixed support portion 143 are not limited in this specification. As described above, the movable support portion 141 can be disposed on the folding arm 15, for example, at the lowest point on the downward-facing side (in flight state) of the arm 154; it can also be disposed on the power unit 30, for example, on the drive member 32; or the movable support portion 141 can also be disposed on the folding landing gear 13. Similarly, the fixed support portion 143 can be the lowest point of the lower shell 125, or the lowest point of a protrusion on the lower shell 125. This manual does not limit the specific number of each of the movable support part 141 and the fixed support part 143. There may be two movable support parts 141 and two fixed support parts 143, or there may be three movable support parts 141 and two fixed support parts 143.

[0146] In one embodiment of this application, two movable support parts 141 are provided, each mounted on one of the two landing gears 134. One fixed support part 143 is provided, located at the lowest point of the lower shell 125 facing downwards. When the landing gear 13 is folded and in a supported state, the two movable support parts 141 and one fixed support part 143 in the second position jointly define a support plane b. In the stationary state, this support plane b coincides with the stationary plane and is located below the lowest point of the second fisheye lens 523, thus isolating the second fisheye lens 523 from the stationary plane and preventing damage to the second fisheye lens 523. This specification does not limit the height difference between the second fisheye lens 523 and the support plane b in the stationary state; the height difference can be 5mm, 10mm, 15mm, 20mm, 30mm, 50mm, 100mm, etc.

[0147] To improve the stability of the support plane b for the unmanned aerial vehicle 100 in the stationary state, in this embodiment, when the unmanned aerial vehicle 100 is projected onto the reference projection plane along a specified direction in the stationary state, the projection of the center of gravity of the unmanned aerial vehicle 100 falls onto the support plane b (e.g., ...). Figure 6 Within the projection range shown, the reference projection plane is parallel to the supporting plane b, and the specified direction is perpendicular to the reference projection plane. The reference projection plane can be understood as the resting surface of the UAV 100 (e.g., a tabletop or the ground), and the specified direction is the direction perpendicular to the resting surface. For example, if the reference plane a is a horizontal plane S, then the specified direction is the direction of gravity. The projection of the UAV 100's center of gravity falls within the projection range of the supporting plane b, which provides excellent support for the UAV 100, improving its stability during rest.

[0148] Please see Figure 7 , Figure 16 and Figure 17 In this embodiment, the unmanned aerial vehicle 100 may further include a support frame 20, which is connected to the body 12 and is used to mount the image acquisition device 50. The support frame 20 is equipped with a heat dissipation structure for cooling the image acquisition device 50. The image acquisition device 50 is connected to the support frame 20 and then to the body 12 through the support frame 20, which improves the ease of assembly of the entire device. The heat dissipation structure cools the image acquisition device 50, thereby improving its stability and service life.

[0149] The bracket 20 may include a mounting body 21 and a shock absorber 23. The shock absorber 23 is connected between the mounting body 21 and the machine body 12, and the mounting body 21 is connected to the machine body 12 through the shock absorber 23. The image acquisition device 50 is disposed on the mounting body 21. The shock absorber 23 reduces the impact of the movement of components on the machine body 12 (such as the folding arm 15 and the power unit 30) on the image acquisition device 50, thereby improving the quality of the images acquired by the image acquisition device 50.

[0150] In this embodiment, the bracket 20 may further include a connecting frame 25, and a shock absorber 23 is connected between the connecting frame 25 and the mounting body 21. The connecting frame 25 is provided with a mounting part 254, which is directly connected to the middle frame 123 by fasteners. The image acquisition device 50 is disposed on the bracket 20, and the bracket 20 is directly connected to the body 12 by fasteners. The image acquisition device 50 and the bracket 20 are modularly configured, making them easy to assemble and disassemble.

[0151] The connecting frame 25 may include a mounting base 252 and a plurality of the aforementioned mounting portions 254. The plurality of mounting portions 254 are spaced apart on the mounting base 252, and the plurality of mounting portions 254 are respectively connected to the body 12, and a heat dissipation gap 256 (e.g., between the mounting base 252 and the body 12) is provided for communication with the outside environment. Figure 3 (As shown). The image acquisition device 50 and the support 20 are connected to the body 12 via the mounting part 254, and a heat dissipation gap 256 exists between them. During operation, the heat generated by the image acquisition device 50 can be partially dissipated through the heat dissipation gap 256, improving the heat dissipation efficiency of the image acquisition device 50. Furthermore, the airflow during the flight of the unmanned aerial vehicle 100 also dissipates heat from the components inside the support 20 through the heat dissipation gap 256, further enhancing the heat dissipation effect.

[0152] To improve the connection stability with the mounting body 21, in this embodiment, the mounting base 252 has a semi-enclosed structure, thereby increasing the connection range with the mounting body 21. As an example, the mounting base 252 may include a main mounting plate 2521 and two side plates 2523. The two side plates 2523 are connected to the same side of the main mounting plate 2521 and are spaced apart from each other, forming a semi-enclosed mounting base 252. The mounting body 21 is at least partially housed between the two side plates 2523, and a shock absorber 23 may be disposed between the side plates 2523 and the mounting body 21. The mounting base 252 may be made entirely of metal, and both the main mounting plate 2521 and the two side plates 2523 are spaced apart from the body 12.

[0153] Mounting parts 254 are fixedly connected to side plates 2523. Multiple mounting parts 254 are provided, divided into two groups, each group connected to opposite sides of two side plates 2523. Each group may include two mounting parts 254. Taking a mounting part 254 on one side plate 2523 as an example, the two mounting parts 254 are arranged approximately at intervals along the height direction of the body 10. The mounting parts 254 protrude from the surface of the side plate 2523 to create a heat dissipation gap 256 between the mounting base 252 and the middle frame 123. Mounting holes for fasteners may be provided on the mounting parts 254.

[0154] To increase the connection stability between the body 12 and the bracket 20, in this embodiment, the middle frame 123 may include two supporting shell portions 1235 (e.g., Figure 7 (As shown). The support shell 1235 is connected to the same end of the main shell 1232, and the two support shells 1235 are spaced apart to form a receiving space 124, in which the bracket 20 is accommodated. Multiple mounting parts 254 are distributed on both sides of the bracket 20 and are respectively connected to the two support shells 1235. A heat dissipation gap 256 is provided between the support shell 1235 and the mounting base 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 overall length of the unmanned aerial vehicle 100, and optimizes the shape of the unmanned aerial vehicle 100.

[0155] Specifically, in this embodiment, the internal spaces of the main shell 1232 and the support shell 1235 are connected to facilitate the installation of other internal components. The support shell 1235 can be integrally formed into the main shell 1232. A connection structure for cooperating with the mounting portion 254 can be provided on one side of each of the two support shells 1235. The two sets of mounting portions 254 are respectively connected to the corresponding support shells 1235 by fasteners, wherein the fasteners can include screws, pins, or other fastening structures.

[0156] In this embodiment, the upper shell 121 and the lower shell 125 are respectively connected to and cover the opposite sides of the middle frame 123. The overall shape of the upper shell 121 and the lower shell 125 is also roughly consistent with the middle frame 123. Accordingly, the upper shell 121 may also include a main shell part and two supporting shell parts, and is connected to the main shell part 1232 and the two supporting shell parts 1235 of the middle frame 123 in a one-to-one correspondence. Similarly, the lower shell 125 may also include a main shell part and two supporting shell parts, and is connected to the main shell part 1232 and the two supporting shell parts 1235 of the middle frame 123 in a one-to-one correspondence.

[0157] This specification does not limit the specific structure of the damping component 23. For example, the damping component 23 may include at least one of the following structures: damping ball, damping washer, damping sleeve, etc. In this embodiment, the damping component 23 includes a second damping ball 232. The mounting body 21 is provided with a first mounting hole 211, and the connecting bracket 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 provided in the side plate 2523. In order to save materials and reduce weight, the side plate 2523 may be provided with a mounting piece for connecting the second damping ball 232. The mounting piece extends relative to the side plate 2523, and the second mounting hole 251 is opened in 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 relatively connected, and the two sides of the second damping ball 232 pass through the first mounting hole 211 and the second mounting hole 251, respectively.

[0158] In this embodiment, the second damping ball 232 has a deformation axis, and the plurality of second damping balls 232 are divided into two groups, with the two groups of second damping balls 232 located on both sides of the connecting frame 25. Each group of second damping balls 232 includes at least three second damping balls 232, and the deformation axes of the three second damping balls 232 in the same group intersect each other. Here, "deformation axis" can be understood as the preset damping compression direction of the second damping ball 232, and the deformation axis of the second damping ball 232 is coaxial with the first mounting hole 211 and the second mounting hole 251 mentioned above. The two groups of second damping balls 232 are located on the two side plates 2523 respectively, and the deformation axes of the three second damping balls 232 in each group intersect, buffering the impact force brought by the body 10 to the image acquisition device 50 on the bracket 20 in three directions, further improving the damping effect and improving the shooting stability of the image acquisition device 50.

[0159] This specification does not limit the specific arrangement of the second damping balls 232 in this group. To improve damping uniformity, in this embodiment, the three second damping balls 232 in each group are distributed at the three vertices of an equilateral triangle. The three second damping balls 232 in each group can evenly buffer the impact force from three directions, improving the damping effect. In this embodiment, in the two groups of second damping balls 232, the positions of the three second damping balls 232 in the first group correspond one-to-one with the three second damping balls 232 in the second group. Figure 16 As shown, the centers of the four second damping balls 232 closest to the first fisheye lens 521 in the two sets of second damping balls 232 are located on the same plane, and the centers of the two second damping balls 232 closest to the second fisheye lens 523 in the two sets of second damping balls 232 are located on the same straight line.

[0160] The bracket 20 loads the second shock absorber ball 232 via the connecting frame 25. During assembly, the two sets of second shock absorber balls 232 can be installed onto the connecting frame 25 first, then the connecting frame 25 can be installed onto the mounting body 21, and finally the entire assembly can be installed onto the body 12 via the mounting part 254. This installation method avoids the cumbersome process of directly installing the second shock absorber ball 232 onto the structurally complex mounting body 21, while improving the stability of the fit between the various structures of the bracket 20.

[0161] In this embodiment, the image acquisition device 50 is disposed on the mounting body 21, which further improves the heat dissipation effect of the image acquisition device 50. The mounting body 21 may include a heat-conducting part 2121 and heat dissipation fins 2123. The heat-conducting part 2121 is connected to the connecting frame 25, and the heat dissipation fins 2123 are connected to the heat-conducting part 2121. The first fisheye lens 521 and the second fisheye lens 523 are respectively disposed on the heat-conducting part 2121 and in contact with the surface of the heat-conducting part 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 fins 2123 by the heat-conducting part 2121, which reduces the temperature of the first fisheye lens 521 and the second fisheye lens 523, improves the stability of shooting, and extends the service life of the first fisheye lens 521 and the second fisheye lens 523.

[0162] The mounting body 21 is used for heat conduction and dissipation. The mounting body 21 forms at least a portion of the aforementioned heat dissipation structure, achieving heat dissipation for the image acquisition device 50 through superior thermal conductivity. As an example, the mounting body 21 may include heat-conducting contact parts, heat dissipation fins, heat dissipation channels, ventilation holes, and other heat dissipation designs. This specification does not limit the specific material of the mounting body 21; it may be made of a metal with good thermal conductivity to improve heat conduction and dissipation effects. For example, the material of the mounting body 21 may include aluminum, copper, etc.

[0163] This specification does not limit the specific structure of the heat-conducting part 2121. In practical applications, the specific structure of the heat-conducting part 2121 can be adjusted according to the installation requirements of the image acquisition device 50. For example, the heat-conducting part 2121 can be a mounting block whose length direction is approximately in the same direction as the height direction of the body 10, so that the first fisheye lens 521 and the second fisheye lens 523 can be located at the top and bottom of the body 10, respectively. The heat-conducting part 2121 can be provided with multiple different types of mounting structures (such as mounting posts, 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-conducting part 2121 can contact the image chips of the first fisheye lens 521 and the second fisheye lens 523, resulting in relatively high heat conduction efficiency. "Contact" can include direct contact, indirect contact, etc. This specification does not limit the specific structure of the heat-conducting part 2121. For example, the heat-conducting part 2121 can consist only of a metal shell or a plastic shell, which dissipates heat from the image acquisition device 50 through contact heat conduction. Alternatively, the heat-conducting part 2121 may include a metal shell or a plastic shell, and the heat-conducting part 2121 may also include thermally conductive silicone disposed between the metal shell or plastic shell and the image acquisition device 50.

[0164] Heat dissipation fins 2123 are disposed on the side of the heat-conducting part 2121 facing the connecting bracket 25. The side of the heat-conducting part 2121 facing the connecting bracket 25 has a larger area, allowing for a greater number of heat dissipation fins 2123, thus improving heat dissipation. The heat dissipation fins 2123 are integrally formed into the heat-conducting part 2121, transferring heat to the surrounding environment through convection and radiation. Multiple heat dissipation fins 2123 further increase the heat dissipation area and enhance the heat dissipation effect.

[0165] In this embodiment, the bracket 20 further includes a protective shell 27, which is connected to the heat-conducting part 2121 and surrounds at least a portion of the structure of the first fisheye lens 521 and / or the second fisheye lens 523. The protective shell 27 is used to protect the first fisheye lens 521 and / or the second fisheye lens 523 and the internal components of the bracket 20. The protective shell 27 is connected to the heat-conducting part 2121. This specification does not limit the specific material of the protective shell 27. For example, the protective shell 27 can be made of plastic or a metal with good heat dissipation, such as aluminum or copper. In some embodiments, the protective shell 27 is a metal protective shell, the surface of which is exposed to the outside and can be provided with multiple 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 together form at least a portion of the heat dissipation structure. The protective shell 27 can achieve the heat dissipation function of the first fisheye lens 521 and / or the second fisheye lens 523 through its better thermal conductivity. The protective shell 27 is located on the side of the heat-conducting part 2121 facing the middle frame 123 and is adjacent to the heat dissipation gap 256. This improves the aesthetics of the unmanned aerial vehicle 100. Furthermore, the narrow width of the heat dissipation gap 256 allows for relatively high airflow velocity and faster heat dissipation. Additionally, the extending direction of the heat dissipation fins 2123 is consistent with the extending direction of the heat dissipation gap 256, ensuring that the airflow direction in the extending direction of the heat dissipation fins 2123 is consistent within the heat dissipation gap 256. The channel between adjacent fins in the heat dissipation fins 2123 is connected to the heat dissipation gap 256, further enhancing the heat dissipation effect.

[0166] In other embodiments, the body 12 may also be provided with air inlets, the air outlets of which are opposite to the bracket 20. The airflow flowing into the body 12 through the air inlets can flow through the heat dissipation fins on the bracket 20 to further dissipate heat from the first fisheye lens 521 and / or the second fisheye lens 523, thereby improving heat dissipation efficiency. When the unmanned aerial vehicle 100 is in flight, the airflow driven by the rotation of the propeller 34 can also dissipate heat from the bracket 20 and the first fisheye lens 521 and / or the second fisheye lens 523 on it through the air inlets, further improving the heat dissipation effect.

[0167] The image acquisition device 50 is mounted on the bracket 20. This specification does not limit the specific position of the bracket 20 relative to the body 12. For example, the bracket 20 can be located at the head end 101, the tail end 103, or the middle section of the body 12. In this embodiment, the bracket 20 is located at the head end 101.

[0168] In this embodiment, the image acquisition device 50 may include a panoramic module 52, which is used to capture 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 disposed at one end of the heat-conducting part 2121 near the upper shell 121, and the second fisheye lens 523 is disposed at one end of the heat-conducting part 2121 near the lower shell 125. The panoramic module 52 is placed on one side outside the fuselage 12 via a bracket 20 and connected to the fuselage 12 via a bracket 20 with a heat dissipation structure, reducing the heat dissipation requirements inside the fuselage 12 and making full use of external airflow to dissipate heat from the panoramic module 52. The first fisheye lens 521 and the second fisheye lens 523 are arranged along the yaw axis Y. When the UAV 100 is in a hovering state, the light-receiving side of the first fisheye lens 521 faces upward towards the fuselage 10, and the second fisheye lens 523 faces downward towards the fuselage 10.

[0169] Please see Figure 5 , Figure 18 and Figure 19 The first fisheye lens 521 has a field of view (FOV1) greater than 180°, and the second fisheye lens 523 has a field of view (FOV2) greater than 180°. The fields of view of the first fisheye lens 521 and the second fisheye lens 523 overlap to obtain a panoramic image. To avoid other structures of the UAV 100 entering the field of view when the first fisheye lens 521 and the second fisheye lens 523 are taking pictures, 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 stitching blending angle.

[0170] In this embodiment, the virtual line connecting the optical centers of the first fisheye lens 521 and the second fisheye lens 523 forms the first axis O3. Please also refer to... Figure 16 and Figure 20The first fisheye lens 521 includes a first convex lens 5212, the optical center of which is the optical center of the first convex lens 5212. The first convex lens 5212 has a first highest point C1 protruding relative to the body 12. The second fisheye lens 523 includes a second convex lens 5232, the optical center of which is the optical center of the second convex lens 5232. The second convex lens 5232 has a second highest point C2 protruding relative to the body 12. Both the first highest point C1 and the second highest point C2 are 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, both the first highest point C1 and the second highest point C2 are 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 will not pass through the first highest point C1 and the second highest point C2 simultaneously, or neither the first highest point C1 nor the second highest point C2 is located on the first axis O3. Therefore, for ease of description, the vertical projection of the first highest point C1 onto the first axis O3 is set as the first highest projection point, and the vertical projection of the second highest point C2 onto the first axis O3 is set as the second highest projection point. If the optical axis of the first fisheye lens 521 and the optical axis of the second fisheye lens 523 are coaxial, then 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.

[0171] In flight mode, the projections of all other structures of the UAV 100 onto 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 UAV 100 onto the first axis O3 fall between the first highest projection point and the second highest projection point, to avoid entering the optical center of the first fisheye lens 521 and the field of view of the second fisheye lens 523 during shooting. The projection direction of all other structures of the UAV 100 onto the first axis O3 is perpendicular to the first axis O3, that is, projected along a straight line L1 perpendicular to the first axis O3. Specifically, when the folding arm 15 is in the unfolded state (e.g....), Figure 5As shown, 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. Furthermore, the projection of the movable support 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 extended state, the projection of the propeller 34's flapping area 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, ensuring that the field of view of the first fisheye lens 521 and the second fisheye lens 523 is not obstructed by the propeller blades of the propeller 34. When the folding landing gear 13 is in the retracted 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.

[0172] To further ensure that, during flight, all other structures of the unmanned aerial vehicle 100 do not obstruct the field of view of the first fisheye lens 521 and the second fisheye lens 523, thus affecting the panoramic shooting effect, the first fisheye lens 521 has a first field of view Q1, and the second fisheye lens 523 has a second field of view Q2. The first field of view Q1 and the second field of view Q2 intersect to form a blind spot Q3. When the unmanned aerial vehicle 100 is in flight, at least three support parts 14 are located within the blind spot Q3. When the movable support part 141 is in the first position, at least three support parts 14 (such as...) Figure 3 As shown, all three support parts 14 can be located within the blind zone Q3, meaning that at least three support parts 14 are not within the fields of view of the second fisheye lens 523 and the first fisheye lens 521, thus not affecting the panoramic shooting effect of the second fisheye lens 523 and the first fisheye lens 521. In this embodiment, when the movable support part 141 is in the second position, the UAV 100 can be in a stationary state, with at least one support part 14 located outside the blind zone Q3, or at least one support part 14 located within the first field of view area Q1 and the second field of view area Q2, to ensure stable support for the UAV 100 in the stationary state and to ensure that the second fisheye lens 523 does not contact the placement surface and collide with it, thereby preventing damage. In other embodiments, while ensuring that the second fisheye lens 523 does not contact the placement surface in the stationary state, at least three support parts 14 can also be located within the blind zone Q3, further avoiding the influence of the support parts 14 on the panoramic shooting effect of the first fisheye lens 521 and the second fisheye lens 523.

[0173] To minimize the impact on the panoramic image quality of the image acquisition device 50, in this embodiment, when the folding arm 15 is in the extended state, both the folding arm 15 and its power unit 30 are located within the blind zone Q3. When the folding landing gear 13 is in the retracted state, it is also located within the blind zone Q3, as is the fuselage 12. In some embodiments, when the folding landing gear 13 is in the supported state, its free end 1343 is located within the second field of view region Q2.

[0174] This specification does not limit 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. For example, the angle of the field of view (FOV1) of the first fisheye lens 521 can fall within any 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 within the following angle ranges. Any one of the following: (180°, 190°), [190°, 200°], [200°, 220°], [220°, 240°]. The field of view (FOV2) of the second fisheye lens 523 can be 185°, 190°, 195°, 200°, 210°, 215°, 220°, 230°, 240°, etc. The field of view (FOV2) of the second fisheye lens 523 can be the same as or different from 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.

[0175] The first field of view Q1 and the second field of view Q2 intersect to form an overlapping area Q4. The angle of the overlapping area Q4 can fall within any of the following angle ranges: (0°, 5°), [5°, 10°], [10°, 20°], [20°, 40°], [40°, 60°]. For example, the angle of the overlapping area Q4 can be 1°, 2°, 3°, 4°, 5°, 6°, 7°, 8°, 9°, 10°, 15°, 20°, 30°, 40°, 50°, 60°, etc.

[0176] As described above, multiple arms 154 can rotate relative to the body 12 to fold into a folded state. To further reduce the space occupied by the unmanned aerial vehicle 100 during storage, such as... Figure 4 and Figure 14As shown, the left front arm 1542 and the left rear arm 1546 are arranged side-by-side along the yaw axis on the same side of the fuselage 12, while the right front arm 1544 and the right rear arm 1548 are arranged side-by-side along the yaw axis on the other side of the fuselage 12. That is, there is a height difference between the left front rotor 342 and the right front rotor 344 at the nose end 101 and the left rear rotor 346 and the right rear rotor 348 at the tail end 103. When the folding arm 15 is in the unfolded state, the projection of the propeller 34's flapping area on the first axis O3 falls between the first highest point C1 and the second highest point C2. 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 tilted.

[0177] Specifically, the first axis O3 intersects the yaw axis Y, the first fisheye lens 521 is tilted towards the tail end 103, and the second fisheye lens 523 is tilted towards the nose 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, this reduces the upper limit of the overall size and weight of the unmanned aerial vehicle 100, making it lighter. On the other hand, it reduces the stitching radius of the first field of view Q1 and the second field of view Q2, improving the stitching imaging quality. This manual does not limit the specific range of the angle between the first axis O3 and the yaw axis Y. The angle between the first axis O3 and the yaw axis Y can fall within any 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.

[0178] In this embodiment, the first fisheye lens 521 has a first optical axis X1, and the second fisheye lens 523 has a second optical axis X2. This 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 can fall within any 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.

[0179] In other embodiments, the first optical axis X1 and the second optical axis X2 may intersect or intersect on opposite planes. The angle between the first optical axis X1 and the second optical axis X2 may fall within any of the following angle ranges: (0°, 3°), [3°, 6°], [6°, 10°], [10°, 20°]. For example, the included angle between the first optical axis X1 and the second optical axis X2 may be 1°, 2°, 3°, 4°, 5°, 6°, 7°, 8°, 9°, 10°, 15°, 20°, etc. "Intersecting on opposite planes" can be understood as the first optical axis X1 and the second optical axis X2 not being in the same plane, and when the first optical axis X1 is projected onto the plane containing the second optical axis X2, the projection of the first optical axis X1 intersects with the second optical axis X2.

[0180] Please also refer to Figure 7 and Figure 16 In this embodiment, the image acquisition device 50 may further include a first obstacle avoidance module 54, which is mounted on the bracket 20. In flight mode, the first obstacle avoidance module 54 is located on the forward-facing side of the fuselage 10 and is used for environmental recognition and obstacle avoidance. The first obstacle avoidance module 54 may include at least two cameras; for example, it may include two cameras, three cameras, or even four cameras. At least two cameras combined for obstacle avoidance can sense the distance and depth of objects, which helps to more accurately measure the distance to obstacles. Furthermore, the data processing of the first obstacle avoidance module 54 is single-dimensional data processing, resulting in a simpler fusion algorithm, reducing computational burden, minimizing heat generation, and preventing system crashes. The first obstacle avoidance module 54 may include a first front camera 541 and a second front camera 543 spaced apart. The first front camera 541 and the second front camera 543 are respectively connected to the bracket 20. The binocular obstacle avoidance module 54 is placed outside the body 12 via the bracket 20 and connected to the body 12 via the bracket 20 with a heat dissipation structure, reducing the heat dissipation requirements inside the body 12 and making full use of external airflow to dissipate heat from the binocular 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 may also be directly connected to the mid-frame 123.

[0181] Please also refer to Figure 16 and Figure 17The first obstacle avoidance module 54 is disposed on the heat-conducting part 2121 of the bracket 20, and is located on the side of the heat-conducting part 2121 opposite to the connecting frame 25. The heat-conducting part 2121 may be provided with lens mounting parts 2141 for mounting the first front camera 541 and the second front camera 543. Two lens mounting parts 2141 are provided, and the two lens mounting parts 2141 are arranged at intervals along the yaw axis Y. At least a portion of the structure of the first front camera 541 and the second front camera 543 is in direct contact with the heat-conducting part 2121, facilitating heat dissipation during the operation of the first obstacle avoidance module 54.

[0182] The heat-conducting part 2121 may also be provided with a shock-absorbing connection part 2143, and at least two of the first mounting holes 211 on the mounting body 21 may be provided on the shock-absorbing connection part 2143. One of the second shock-absorbing balls 232 in each group is connected to the corresponding shock-absorbing connection part 2143. The bracket 20, the panoramic module 52 and the first obstacle avoidance module 54 together form a panoramic shooting module, which is not only easy to assemble and disassemble, but also can simultaneously provide shock absorption for the panoramic module 52 and the first obstacle avoidance module 54, thereby improving the shooting effect. At the same time, the mounting body 21 can also provide heat dissipation for both 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.

[0183] Please also refer to Figure 3 , Figure 5 and Figure 17 In this embodiment, the first front camera 541 and the second front camera 543 are respectively connected to two lens mounting portions 2141, and 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 (e.g., Figure 20 As shown), the second front camera 543 has a fourth optical axis X4, and the third optical axis X3 and / or the fourth optical axis X4 intersects the first axis O3. For example, the third optical axis X3 and / or the fourth optical axis X4 may be perpendicular to the first axis O3; or, the third optical axis X3 and / or the fourth optical axis X4 may not be 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 may be 84°, 84.2°, 84.4°, 84.6°, 84.8°, 85°, 86°, 87°, 88°, 89°, etc.

[0184] The third optical axis X3 and / or the fourth optical axis X4 intersect with the first surface c. When the unmanned aerial vehicle 100 is in a hovering state, the direction of the unmanned aerial vehicle 100 facing horizontally forward is set as the first vector direction E3, and the direction along the third optical axis X3 from the inside of the first front camera 541 to the light-collecting side of the first front camera 541 is set as the second vector direction E4. When the first vector direction E3 and the second vector direction E4 (both the first vector direction E3 and the second vector direction E4 pass through the optical center of the first front camera 541) are constructed with the optical center of the first front camera 541 as the base point, the first vector direction E3 and the second vector direction E4 intersect. Furthermore, the second vector direction E4 is located above the first vector direction E3 in space. The angle range 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.

[0185] When the third optical axis X3 and / or the fourth optical axis X4 intersect the first surface c so that the UAV 100 is in a hovering state, the light-collecting sides of the first front camera 541 and the second front camera 543 face obliquely upwards (second vector direction) of the UAV 100. When the UAV 100 is in a forward horizontal flight state, the light-collecting sides of the first front camera 541 and the second front camera 543 face forward of the UAV 100 (first vector direction), and at this time, the third optical axis X3 and / or the fourth optical axis X4 are parallel to the horizontal plane S.

[0186] Therefore, the tilted configuration of the third optical axis X3 and / or the fourth optical axis X4 in this embodiment during hovering increases the field of view of the first front camera 541 and / or the second front camera 543 when the UAV 100 is in forward flight, achieving a wider obstacle avoidance perception angle. Furthermore, in this embodiment, the third optical axis X3 and / or the fourth optical axis X4 are perpendicular to the first axis O3, further increasing the obstacle avoidance perception angle and optimizing the obstacle avoidance effect.

[0187] This 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 at different planes. This specification does not limit the specific range of the included angle between the third optical axis X3 and the fourth optical axis X4. The included angle between the third optical axis X3 and the fourth optical axis X4 can fall within any of the following angle ranges: (0°, 3°), [3°, 6°], [6°, 10°], [10°, 20°]. For example, the included 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.

[0188] Please also refer to Figure 7 , Figure 17 and 19 In this embodiment, the unmanned aerial vehicle 100 may further include an indicator light 40, which is disposed on the bracket 20. When the unmanned aerial vehicle 100 is in a forward-flying state, the indicator light 40 is located on the forward-facing side of the bracket 20. To facilitate the installation of the indicator light 40 and protect the image acquisition device 50, in this embodiment, the bracket 20 may further include a front shell 29, on which the indicator light 40 is mounted. The front shell 29 is connected to the side of the heat-conducting part 2121 away from the connecting frame 25, and the front shell 29 is provided with a nose end 101.

[0189] This specification does not limit the specific structure of the front shell 29. Both ends of the front shell 29 may have mounting notches to form mounting holes for the first fisheye lens 521 and the second fisheye lens 523, together with the mounting notches of the protective shell 27. 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 together surround the outer periphery of the first fisheye lens 521 and / or the second fisheye lens 523. This specification does not limit the angle at which the front shell 29 and the protective shell 27 surround each other; for example, the central angle of the mounting notch of the protective shell 27 can be 60°, 90°, 180°, etc. To reduce the weight of the front shell 29, its shape can be adjusted according to the position and shape of the first front camera 541 and the second front camera 543 inside, protruding in corresponding parts to accommodate the first front camera 541 and the second front camera 543, and recessed in other parts to reduce volume. The front cover 29 has clearance holes corresponding to the positions of the first front camera 541 and the second front camera 543, so that the first front camera 541 and the second front camera 543 can take pictures.

[0190] Indicator light 40 is connected to the front shell 29 and located between the first front camera 541 and the second front camera 543, making indicator light 40, image acquisition device 50, and bracket 20 modularly arranged. During installation, the image acquisition device 50 can be installed to bracket 20 first, followed by indicator light 40, forming a semi-finished module that can then be assembled onto the body 12. This specification does not limit the specific function of indicator light 40; for example, indicator light 40 can be used to display flight status. Specifically, indicator light 40 is electrically connected to the mainboard 90. Indicator light 40 includes one or more first luminous areas 41, which are used to display light effects corresponding to the flight status of the unmanned aerial vehicle 100 based on instructions from the mainboard 90. One or more first luminous areas 41 can also be used to display light effects corresponding to the remaining battery power of the unmanned aerial vehicle 100. For example, when the unmanned aerial vehicle 100 is in flight, the first luminous area 41 displays a green light effect; when the unmanned aerial vehicle 100 is in a stationary state, the first luminous area 41 displays a yellow light effect.

[0191] In some embodiments, the indicator light 40 can also be used to display the battery status. The indicator light 40 is electrically connected to the battery 80 and includes a plurality of second light-emitting areas 43 for displaying light effects corresponding to the battery status of the battery 80. For example, the number of second light-emitting areas 43 is set to five, arranged side-by-side. When the battery 80's charge is between 80% and 100%, all five second light-emitting areas 43 are illuminated; when the battery 80's charge is between 60% and 80%, four second light-emitting areas 43 are illuminated; when the battery 80's charge is between 40% and 60%, three second light-emitting areas 43 are illuminated; when the battery 80's charge is between 20% and 40%, two second light-emitting areas 43 are illuminated; and when the battery 80's charge is between 0% and 20%, one second light-emitting area 43 is illuminated.

[0192] In this embodiment, the unmanned aerial vehicle 100 may further include a magnetometer 120, which is mounted on a 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, which reduces the influence of the magnetic field generated by the components inside the body 12 and improves the accuracy of the magnetometer 120.

[0193] Please also refer to Figure 21 and Figure 22This application also provides an unmanned aerial vehicle (UAV) 200, which has a flight state and a stationary state. The UAV 200 includes a fuselage 201 and an image acquisition device 202. The fuselage 201 includes a body 2012 and at least three support parts 2014, which are spaced apart from each other and respectively connected to the body 2012. At least one of the at least three support parts 2014 is a movable support part 2015, which can move relative to the body 2012 to a first position or a second position. The image acquisition device 202 is disposed on the body 2012 and includes a fisheye lens 2021. In the flight state, the fisheye lens 2021 is located on the side of the body 2012 facing the ground and protrudes relative to the surface of the body 2012. The movable support part 2015 is located in the first position, and the at least three support parts 2014 together define a reference plane a1, which is higher than the lowest point of the fisheye lens 2021. The active support 2015 is located in the second position, and at least three support parts 2014 together define the support plane b1, with a space between the support plane b1 and the lowest point of the fisheye lens 2021.

[0194] The unmanned aerial vehicle 200 in this embodiment may possess one or more features of the unmanned aerial vehicle 100 provided in any of the above embodiments. Where there is no conflict, the features of the unmanned aerial vehicle 100 provided in any of the above embodiments may be combined with those features of this unmanned aerial vehicle 200. For example, the fuselage 201 in this embodiment may include one or more features of the fuselage 10 described above, and the fuselage 201 may include structures such as the folding arm 15 and the folding landing gear 13 of the fuselage 10 described above. The fisheye lens 2021 referred to in this embodiment can be understood as the second fisheye lens 523 provided in any of the above embodiments, and possesses one or more features of the second fisheye lens 523 described above.

[0195] Please see Figure 23 and Figure 24This application also provides a panoramic imaging drone 300, which may include a fuselage 301 and an image acquisition device 302. The fuselage 301 includes a body 3012, a first support portion 3014, a second support portion 3016, and a third support portion 3018. The first support portion 3014, the second support portion 3016, and the third support portion 3018 are spaced apart from each other and respectively connected to the body 3012. The first support portion 3014 can move relative to the body 3012 to be in a first position or a second position. The image acquisition device 302 is disposed on the body 3012 and includes a first fisheye lens 3021 and a second fisheye lens 3022. The first fisheye lens 3021 and the second fisheye lens 3022 are respectively disposed on opposite sides of the body 3012, and the field of view of the first fisheye lens 3021 and the second fisheye lens 3022 overlaps to acquire panoramic images. When the panoramic imaging aircraft 300 is in flight, the second fisheye lens 3022 is located on the side of the fuselage 3012 facing the ground. When the first support 3014 is in the first position, the first support 3014, the second support 3016, and the third support 3018 together define a reference plane a2, which is higher than the lowest point of the second fisheye lens 3022 and the first fisheye lens 3021. When the first support 3014 is in the second position, the first support 3014, the second support 3016, and the third support 3018 together define a support plane b2, which is located on the side of the second fisheye lens 3022 away from the first fisheye lens 3021.

[0196] The panoramic imaging drone 300 in this embodiment may possess one or more features of the unmanned aerial vehicle 100 provided in any of the above embodiments. Where there is no conflict, the features of the unmanned aerial vehicle 100 provided in any of the above embodiments may be combined with the panoramic imaging drone 300 in this embodiment. For example, the fuselage 301 in this embodiment may include one or more features of the fuselage 10 provided in any of the above embodiments. Specifically, the fuselage 301 may include the folding arm 15, folding landing gear 13, and other structures of the fuselage 10. The first support portion 3014 in this embodiment can be understood as the movable support portion 141 provided in any of the above embodiments, and possesses one or more features of the movable support portion 141. The second support portion 3016 and the third support portion 3018 in this embodiment can be understood as the fixed support portion 143 provided in any of the above embodiments, or as the movable support portion 141, and possess one or more features of the movable support portion 141 and / or the fixed support portion 143.

[0197] In use, the unmanned aerial vehicle 100 provided in this embodiment is powered by a power unit 30, enabling it to fly. A first fisheye lens 521 and a second fisheye lens 523 are respectively located on both sides of the body 12, i.e., at the top and bottom of the body 12, respectively. The first and second fisheye lenses 521 and 523 are used to acquire panoramic images. When the movable support 141 is in the first position, the unmanned aerial vehicle 100 can be in flight. At least three support parts 14 jointly define a reference plane a, which is higher than the lowest point of the second fisheye lens 523, thereby reducing the possibility of the three support parts 14 entering the field of view of the second fisheye lens 523. When the movable support 141 is in the second position, the unmanned aerial vehicle 100 can be in a stationary state. At least three support parts 14 jointly define a support plane b, which is located on the side of the second fisheye lens 523 opposite to the first fisheye lens 521. When the unmanned aerial vehicle 100 is placed on the placement plane, the support plane b defined by at least three support parts 14 coincides with the placement plane, and the second fisheye lens 523 is located above the support plane b. That is, the second fisheye lens 523 will not come into contact with the placement plane, collide with it, or be damaged.

[0198] The unmanned aerial vehicle 100 provided in this application embodiment can acquire panoramic images in flight mode and protect the second fisheye lens 523 in stationary mode, reducing the possibility of damage caused by contact or collision between the second fisheye lens 523 and the placement plane, thereby improving the service life of the second fisheye lens 523.

[0199] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0200] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. An unmanned aerial vehicle, characterized in that, include: The fuselage includes a body and at least three support parts, the at least three support parts being spaced apart from each other and respectively connected to the body, at least one of the at least three support parts being a movable support part, the movable support part being able to move relative to the body to be in a first position or a second position; A power unit, connected to the body, is used to provide the unmanned aerial vehicle with the power to fly, so that the unmanned aerial vehicle has a flight state and a stationary state; An image acquisition device is provided on the body. The image acquisition device includes a first fisheye lens and a second fisheye lens. The first fisheye lens and the second fisheye lens are respectively provided on both sides of the body. The second fisheye lens is located on the downward side of the body. When the movable support is in the first position, at least three of the support members together define a reference plane, which is higher than the lowest point of the second fisheye lens; When the movable support is in the second position, at least three of the support members together define a support plane, which is located on the side of the second fisheye lens away from the first fisheye lens.

2. The unmanned aerial vehicle as described in claim 1, characterized in that, The fuselage also includes a movable component, which is movably connected to the fuselage body. The movable support is disposed on the movable component, and the movable component is movable relative to the fuselage body to position the movable support in the first position or the second position.

3. The unmanned aerial vehicle as described in claim 2, characterized in that, The number of movable parts is at least three, and at least three of the at least three support parts are movable support parts, with the three movable support parts respectively disposed on different movable parts.

4. The unmanned aerial vehicle as described in claim 2, characterized in that, The number of movable parts is set to multiple, at least two of the at least three support parts are movable support parts, and the two movable support parts are respectively disposed on different movable parts.

5. The unmanned aerial vehicle as described in claim 4, characterized in that, At least one of the three support parts is a fixed support part, which is fixedly disposed on the body.

6. The unmanned aerial vehicle as described in claim 5, characterized in that, The fuselage is provided with a first protrusion. In the flight state, the first protrusion is located at the bottom of the fuselage and protrudes relative to the surface of the fuselage. The fixed support is located at the protruding end of the first protrusion.

7. The unmanned aerial vehicle as described in claim 2, characterized in that, At least two of the three support parts are fixed support parts, and both fixed support parts are fixedly disposed on the body.

8. The unmanned aerial vehicle as described in claim 7, characterized in that, The fuselage is provided with a second protrusion and a third protrusion. In the flight state, the second protrusion is located at the bottom of the fuselage and protrudes relative to the surface of the fuselage, and the third protrusion is located at the bottom of the fuselage and protrudes relative to the surface of the fuselage. One of the fixed support parts is located at the protruding end of the second protrusion, and the other fixed support part is located at the protruding end of the third protrusion.

9. The unmanned aerial vehicle as described in claim 2, characterized in that, The fuselage includes multiple folding arms connected to the fuselage body. The multiple folding arms are movable relative to the fuselage body to be in an unfolded or folded state. The power unit is disposed on the multiple folding arms, and at least one of the multiple folding arms constitutes the movable component.

10. The unmanned aerial vehicle as described in claim 9, characterized in that, The folding arm includes a pivot and an arm, the arm being rotatably connected to the body via the pivot, and the arm being able to rotate relative to the body about the pivot.

11. The unmanned aerial vehicle as described in claim 10, characterized in that, The pivot is parallel to the yaw axis of the unmanned aerial vehicle, and in the flight state, the movable support is located on the downward-facing side of the arm.

12. The unmanned aerial vehicle as described in claim 11, characterized in that, In the flight state, the movable support is the lowest point of the surface on the downward side of the arm.

13. The unmanned aerial vehicle as described in claim 11, characterized in that, The arm is provided with a fourth protrusion, which protrudes relative to the surface of the arm. In the flight state, the movable support is located at the end of the fourth protrusion facing downwards.

14. The unmanned aerial vehicle as described in claim 10, characterized in that, The rotating shaft intersects the yaw axis of the unmanned aerial vehicle, and the angle between the rotating shaft and the yaw axis falls within any of the following angle ranges: (0°, 3°), [3°, 6°], [6°, 10°], [10°, 20°].

15. The unmanned aerial vehicle as described in claim 10, characterized in that, The pitch axis and roll axis of the unmanned aerial vehicle together define a first surface, and the rotation axis is parallel to the first surface; in the flight state, the folding arm is in the unfolded state, and the movable support is located at the highest point of the upward-facing side of the arm.

16. The unmanned aerial vehicle as described in claim 10, characterized in that, The power unit includes a drive component and a propeller, the drive component being connected between the arm and the propeller; the movable support is located at the end of the arm.

17. The unmanned aerial vehicle as described in claim 16, characterized in that, In the flight state, the drive unit is located below the propeller, and the movable support is located at the lowest point on the downward-facing side of the drive unit.

18. The unmanned aerial vehicle as described in claim 16, characterized in that, In the flight state, the drive unit is located below the propeller, and the movable support is located at the highest point on the side of the drive unit facing away from the ground.

19. The unmanned aerial vehicle as described in claim 10, characterized in that, The pitch axis and roll axis of the unmanned aerial vehicle together define a first surface. The rotation axis intersects the first surface, and the angle between the rotation axis and the first surface falls within any one of the following angle ranges: (0°, 3°), [3°, 6°], [6°, 10°], [10°, 20°].

20. The unmanned aerial vehicle as described in claim 10, characterized in that, The unmanned aerial vehicle (UAV) has two parking states: a ready-to-fly state and a stowed state. When the UAV is in the ready-to-fly state, the folding arm is in the unfolded state; when the UAV is in the stowed state, the folding arm is in the folded state; and when the UAV is in the flight state, the folding arm is in the unfolded state.

21. The unmanned aerial vehicle as described in claim 2, characterized in that, The fuselage includes a folding landing gear connected to the fuselage body. The folding landing gear is movable relative to the fuselage body to be in a supported state or a retracted state. The folding landing gear forms the movable component. When the folding landing gear is in the supported state, the movable support portion is located at the lowest point of the folding landing gear.

22. The unmanned aerial vehicle as described in claim 21, characterized in that, The folding landing gear includes a landing gear drive mechanism and landing gear, the landing gear being rotatably connected to the fuselage; the landing gear drive mechanism is connected between the fuselage and the landing gear, and the landing gear drive mechanism is used to drive the landing gear to rotate relative to the fuselage.

23. The unmanned aerial vehicle as described in claim 21, characterized in that, The parking states of the unmanned aerial vehicle include a ready-to-fly state and a stowed state. When the unmanned aerial vehicle is in the ready-to-fly state, the folding landing gear is in the supported state; when the unmanned aerial vehicle is in the stowed state, the folding landing gear is in the retracted state; when the unmanned aerial vehicle is in the flight state, the folding landing gear is in the retracted state.

24. The unmanned aerial vehicle as described in any one of claims 1 to 23, characterized in that, The first fisheye lens has a field of view greater than 180°, and the second fisheye lens has a field of view greater than 180°; the first fisheye lens has a first field of view region, and the second fisheye lens 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 blind spot. When the unmanned aerial vehicle is in the flight state, all three support parts are located within the blind spot of the field of view.

25. The unmanned aerial vehicle as described in claim 24, characterized in that, When the unmanned aerial vehicle is in the parked state, the at least one support is located outside the blind zone of the field of view, or the at least one support is located within the first field of view area and the second field of view area.

26. The unmanned aerial vehicle as described in claim 24, characterized in that, The first field of view and the second field of view intersect to form an overlapping area, and the angle of the overlapping area falls within any one of the following angle ranges: (0°, 5°], [5°, 10°], [10°, 20°], [20°, 40°], [40°, 60°].

27. The unmanned aerial vehicle as described in any one of claims 1 to 23, characterized in that, In the stationary state, when the unmanned aerial vehicle is projected onto the reference projection plane in a specified direction, the projection of the center of gravity of the unmanned aerial vehicle falls within the projection range of the supporting plane, the reference projection plane is parallel to the supporting plane, and the specified direction is perpendicular to the reference projection plane.

28. An unmanned aerial vehicle, characterized in that, The unmanned aerial vehicle has a flight state and a stationary state, and the unmanned aerial vehicle includes: The fuselage includes a body and at least three support parts, the at least three support parts being spaced apart from each other and respectively connected to the body, wherein at least one of the at least three support parts is a movable support part, the movable support part being movable relative to the body to be in a first position or a second position; And an image acquisition device is disposed on the aircraft body. The image acquisition device includes a fisheye lens. In the flight state, the fisheye lens is located on the side of the aircraft body facing the ground and protrudes relative to the surface of the aircraft body. When the active support is in the first position, at least three of the support members together define a reference plane, which is higher than the lowest point of the fisheye lens; When the movable support is in the second position, at least three of the support members together define a support plane, and there is a space between the support plane and the lowest point of the fisheye lens.

29. A panoramic photography drone, characterized in that, include: The fuselage includes a body, a first support portion, a second support portion, and a third support portion. The first support portion, the second support portion, and the third support portion are spaced apart from each other and respectively connected to the body. The first support portion is movable relative to the body to be in a first position or a second position. An image acquisition device is provided on the aircraft body. The image acquisition device includes a first fisheye lens and a second fisheye lens. The first fisheye lens and the second fisheye lens are respectively provided on opposite sides of the aircraft body. The field of view of the first fisheye lens and the second fisheye lens overlap to acquire panoramic images. When the panoramic shooting aircraft is in flight, the second fisheye lens is located on the side of the aircraft body facing the ground. When the first support is in the first position, the first support, the second support, and the third support together define a reference plane, which is higher than the lowest point of the second fisheye lens and between the first fisheye lens; When the first support portion is in the second position, the first support portion, the second support portion, and the third support portion together define a support plane, which is located on the side of the second fisheye lens away from the first fisheye lens.

Images