Panoramic Drone
The panoramic drone design with rotating blades and intersecting lens fields of view addresses the obstruction issue, enabling wider capture ranges and improved operational efficiency.
Patent Information
- Application Number
- JP2025527656
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2022-11-18
- Publication Date
- 2025-12-22
AI Technical Summary
Drones equipped with multiple lenses for panoramic imaging face the issue of blades obstructing the field of view due to their placement, resulting in a narrower actual capture range than the combined lens viewing angles.
The design of panoramic drones with a fuselage structure that includes top, bottom, and side shells, featuring fisheye lenses and rotating blades positioned to avoid obstruction, allowing the lenses' fields of view to intersect without interference from the blades.
Enables unobstructed panoramic photography by ensuring the blades do not block the field of view, allowing the drone to capture a wider range than the combined stitching areas of the lenses, with improved response speed and reduced mechanical interference.
Smart Images
Figure 2025541609000001_ABST
Abstract
Description
[Technical Field]
[0001] This application relates to drones, and more particularly to panoramic drones (panoramic unmanned aerial vehicles). [Background technology]
[0002] Drones capture video using lenses attached to the aircraft. To capture panoramic images and videos, drones are equipped with lenses not only on the bottom and sides of the aircraft, but also on the top of the aircraft. The fields of view corresponding to the viewing angles of these multiple lenses intersect to form an enclosed space, making it possible to capture panoramic images of scenery outside the enclosed space. However, in reality, part of the blades often enters the field of view corresponding to the lenses on the top of the aircraft, blocking part of the field of view. Due to the blade blocking, the range actually captured by the drone is narrower than the field of view formed by the viewing angles of each lens. Summary of the Invention
[0003] According to some embodiments, a panoramic drone is provided in which the blades do not obstruct the field of view.
[0004] Panoramic drones are a fuselage including a top shell, a bottom shell, and a side shell connected between the top shell and the bottom shell; a first fisheye lens provided on the top shell and having a first field of view area and a first stitching area not exceeding the first field of view area; a second fisheye lens provided in the bottom shell, having a second field of view area and a second stitching area not exceeding the range of the second field of view area, wherein the second field of view area and the first field of view area intersect to form an overlapping area and a field of view blind spot area, and an area that cannot be covered by either the first stitching area or the second stitching area forms a stitching blind spot area; a rear arm provided on the side shell and including a first blade and a first driving member that drives the first blade to rotate; a forearm provided on the side shell and including a second blade and a second drive member that drives the second blade to rotate; Both the rear arm and the front arm are located in the stitching blind spot area, and when the plane on which the center line of the first fisheye lens is located and perpendicular to the horizontal plane is taken as the reference plane, the projection of the axis of the first driving member onto the reference plane and the projection of the axis of the second driving member onto the reference plane intersect below the bottom shell and between the first driving member and the second driving member.
[0005] The panoramic drone's first field of view of the first fisheye lens intersects with the second field of view of the second fisheye lens, enabling panoramic photography. The rear arm and the front arm are both located in the stitching blind spot, and the projection of the axis of the first driving member onto the reference plane and the projection of the axis of the second driving member onto the reference plane intersect below the bottom shell between the first driving member and the second driving member. That is, the axes of the first driving member and the second driving member extend at an outward angle on the bottom shell, so the first blade and the second blade, driven by the first driving member and the second driving member, respectively, are inclined outward relative to the bottom shell. This effectively prevents the blades from blocking the field of view.
[0006] In one embodiment, the angle formed between the axis of the first driving member and the vertical direction is 0° to 20°, and the angle formed between the axis of the second driving member and the vertical direction is 0° to 20°.
[0007] In one embodiment, the side shells include a first side shell and a second side shell facing each other, the rear arms include a left rear arm and a right rear arm connected to the first side shell and the second side shell, respectively, and the front arms include a left front arm and a right front arm connected to the first side shell and the second side shell, respectively.
[0008] In one embodiment, a second drive member of the left front arm drives the second blade to run counterclockwise, a second drive member of the right front arm drives the second blade to run clockwise, a first drive member of the left rear arm drives the first blade to run clockwise, and a first drive member of the right rear arm drives the first blade to run counterclockwise.
[0009] In one embodiment, the side shell further includes a first connecting shell and a second connecting shell, the first connecting shell and the second connecting shell are connected to both ends of the first side shell and the second side shell, and the first fisheye lens is arranged close to the first connecting shell.
[0010] In one embodiment, the top shell comprises a first top shell portion and a second top shell portion connected to the first top shell portion, the first fisheye lens is convexly provided on the first top shell portion, and the second top shell portion extends obliquely from one end of the first top shell portion to the bottom shell.
[0011] In one embodiment, the left front arm and the right front arm are closer to the first fisheye lens in the vertical direction than the left rear arm and the right rear arm.
[0012] In one embodiment, the rear arm includes a first rotating arm rotatably connected to the side shell, the first drive member being provided at an end of the first rotating arm, the front arm includes a second rotating arm rotatably connected to the side shell, the second drive member being provided at an end of the second rotating arm, and the first rotating arm and the second rotating arm rotate toward each other and toward the side shell in which they are located.
[0013] In one embodiment, the rear arm includes a first rotating arm rotatably connected to the side shell, the first rotating arm including a slope facing the first driving member, the first driving member being fixed to the slope, a plane on which the first blade is located is parallel to the slope and perpendicular to the axis of the first driving member, and one side of the first driving member closer to the first fisheye lens is higher than the other side of the first driving member farther from the first fisheye lens.
[0014] In one embodiment, the bottom shell includes a first bottom shell portion and a second bottom shell portion, the second bottom shell portion extends obliquely from one end of the first bottom shell portion to the top shell, and the second fisheye lens is protruding from the second bottom shell portion.
[0015] In one embodiment, a support portion is provided on the bottom shell, and one surface of the support portion away from the top shell is a support surface, and the second fisheye lens is completely located between the top shell and the plane on which the support surface is located.
[0016] In one embodiment, the front arm and rear arm have a deployed mode, and the surface of the end of the rear arm that is far from the top shell is a contact surface, and in the deployed mode, the contact surface is flush with the support surface of the support portion.
[0017] In one embodiment, the upper end of the center line of the first fisheye lens and the upper end of the center line of the second fisheye lens are inclined toward the rear arm.
[0018] In one embodiment, the centerline of the first fisheye lens overlaps with the centerline of the second fisheye lens.
[0019] In one embodiment, the angle formed between the center line of the first fisheye lens and the vertical direction and the angle formed between the center line of the second fisheye lens and the vertical direction are both less than 20°.
[0020] Panoramic drones are a fuselage having a side shell including a first side shell and a second side shell facing each other; rear arms including a left rear arm and a right rear arm connected to the first side shell and the second side shell, respectively, each of the left and right rear arms including a first blade and a first driving member that drives the first blade to rotate, the first driving member of the left rear arm driving the first blade to rotate clockwise, and the first driving member of the right rear arm driving the first blade to rotate counterclockwise; a forearm comprising a left forearm and a right forearm connected to the first side shell and the second side shell, respectively, each forearm comprising a second blade and a second drive member that drives the second blade to rotate, the second drive member of the left forearm driving the second blade to rotate counterclockwise, and the second drive member of the right forearm driving the second blade to rotate clockwise.
[0021] When the panoramic drone flies, the second blade of the left front arm moving counterclockwise, the second blade of the right front arm moving clockwise, the first blade of the left rear arm moving clockwise, and the first blade of the right rear arm moving counterclockwise provide blade lift, enabling the panoramic drone to take off and fly.
[0022] In one embodiment, the fuselage further comprises a bottom shell and a top shell, the side shells are connected between the top shell and the bottom shell, and the left front arm and the right front arm are closer to the top shell than the left rear arm and the right rear arm.
[0023] In one embodiment, the airframe further comprises a bottom shell and a top shell, and the side shell is connected between the top shell and the bottom shell. The panoramic drone further comprises a first fisheye lens provided on the top shell and a second fisheye lens provided on the bottom shell, the first fisheye lens having a first field of view and the second fisheye lens having a second field of view, the second field of view and the first field of view intersecting to form an overlapping area and a blind spot area, the rear arm and the front arm are both located in the blind spot area, and when a plane on which the center line of the first fisheye lens is located and perpendicular to the horizontal plane is taken as a reference plane, the projection of the axis of the first driving member onto the reference plane and the projection of the axis of the second driving member onto the reference plane intersect below the bottom shell and between the first driving member and the second driving member.
[0024] In one embodiment, the angle formed between the axis of the first driving member and the vertical direction is 0° to 20°, and the angle formed between the axis of the second driving member and the vertical direction is 0° to 20°.
[0025] In one embodiment, the rear arm includes a first rotating arm rotatably connected to the side shell, the first rotating arm having a slope facing the first driving member, the first driving member being fixed to the slope, a plane on which the first blade is located is parallel to the slope and perpendicular to the axis of the first driving member, and one side of the first driving member closer to the second driving member is higher than the other side of the first driving member farther from the second driving member.
[0026] The details of one or more embodiments of the present application are set forth in the drawings and description below. Other features, objects, and advantages of the present application will become apparent from the following detailed description, the accompanying drawings, and the claims. [Brief explanation of the drawings]
[0027] In order to more clearly describe the technical solutions in the embodiments of the present application or the prior art, the following briefly describes the drawings used in the description of the embodiments or the prior art. Obviously, the drawings described below are only embodiments of the present application, and those skilled in the art can obtain other drawings based on the disclosed drawings without expending creative efforts. [Figure 1] FIG. 1 is a perspective view of a panoramic drone according to one embodiment. [Figure 2] FIG. 2 is a perspective view of the panoramic drone of FIG. 1 in another direction. [Figure 3] FIG. 3 is a side view of the panoramic drone of FIG. [Figure 4] Figure 4 shows the field of view and stitching area of the fisheye lens of the panoramic drone in Figure 1. [Figure 5] FIG. 5 is a diagram showing the projection of the axis of the first driving member and the axis of the second driving member in FIG. 3 onto a reference plane. [Figure 6] FIG. 6 is a diagram showing the state of the rear arm in FIG. 3 when the first blade is provided inclined inward. [Figure 7] FIG. 7 is a perspective view of the panoramic drone of FIG. 1 in gather mode. [Figure 8] FIG. 8 is an enlarged view of the rear arm in FIG. DETAILED DESCRIPTION OF THE INVENTION
[0028] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings of the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments, and are not all of the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without any creative work are included in the scope of protection of the present application.
[0029] In the description of this application, the orientations and positional relationships indicated by terms such as "center," "longitudinal direction," "lateral direction," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial direction," "radial direction," and "circumferential direction" are based on the orientations and positional relationships shown in the accompanying drawings and are intended merely for the convenience and simplification of the description of this application, and are in no way intended to explicitly or imply that the devices or elements referred to necessarily have a specific orientation or must be constructed or operated in a specific orientation. Therefore, these terms should not be construed as limitations on this application.
[0030] Furthermore, terms such as "first" and "second" are used merely for convenience of description and cannot be understood as expressing or suggesting relative importance or the number of relevant technical features. Therefore, it can be said that a feature defined by "first" or "second" expresses or suggests that there is at least one of the relevant feature. Meanwhile, in the specification of this application, "plurality" means at least two, e.g., two, three, etc., unless otherwise clearly defined.
[0031] In this application, terms such as "attach," "contact," "connect," and "fix" should be understood in a broad sense unless otherwise clearly defined and limited. For example, unless otherwise clearly limited, they may refer to a fixed connection, a detachable connection, or an integral connection. They may also refer to a mechanical connection or an electrical connection. Furthermore, unless otherwise clearly limited, they may refer to a direct contact or an indirect contact via an intermediate medium, or they may refer to internal communication between two elements or an interactive relationship between two elements. Those skilled in the art can understand the specific meanings of the above terms in this application depending on the specific situation.
[0032] In this application, unless otherwise clearly defined and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact with each other, or that the first and second features are in indirect contact with each other via an intermediate medium. Furthermore, a first feature being "above," "above," or "on the upper surface" of a second feature may mean that the first feature is directly above or diagonally above the second feature, or may simply mean that the horizontal height of the first feature is higher than that of the second feature. Furthermore, a first feature being "below," "below," or "on the lower surface" of a second feature may mean that the first feature is directly below or diagonally below the second feature, or may simply mean that the horizontal height of the first feature is lower than that of the second feature.
[0033] It should be noted that when an element is "fixed" or "mounted" on another element, it means that the element is directly mounted on the other element or that there is an intermediate element between them. Also, when an element is "connected" to another element, it means that the element is directly connected to the other element or that there is an intermediate element between them. Terms such as "vertical," "horizontal," "up," "down," "left," "right," and similar terms used herein are for descriptive purposes only and do not represent the only embodiment.
[0034] 1 to 5, one embodiment of the present application provides a panoramic drone 100 including an airframe 10, a rear arm 20, a front arm 30, a first fisheye lens 40, and a second fisheye lens 50. The airframe 10 includes a top shell 11, a bottom shell 12, and a side shell connected between the top shell 11 and the bottom shell 12. The first fisheye lens 40 is mounted on the top shell 11 and has a first field of view 60 and a first stitching area (reference numeral omitted) that does not extend beyond the first field of view 60. The second fisheye lens 50 is mounted on the bottom shell 12 and has a second field of view 70 and a second stitching area (reference numeral omitted) that does not extend beyond the second field of view 70. The second field of view 70 and the first field of view 60 intersect to form an overlapping area (not shown) and a blind field of view area 80. The area that cannot be covered by either the first stitching area or the second stitching area constitutes a stitching blind area 90. The overlapping region refers to a region that can be covered by both the second field of view region 70 and the first field of view region 60, and the field of view blind spot region 80 refers to a region that cannot be covered by either the second field of view region 70 or the first field of view region 60. Both the rear arm 20 and the front arm 30 are provided in the stitching blind spot region 90. The rear arm 20 is provided on the side shell and includes a first blade 22 and a first driving member 23 that drives the first blade 22 to rotate. The front arm 30 is provided on the side shell and includes a second blade 32 and a second driving member 33 that drives the second blade 32 to rotate. As shown in Figure 4, when the plane Y on which the center line of the first fisheye lens 40 is located and which is perpendicular to the horizontal plane is taken as the reference plane, the projection of the axis 24 of the first driving member 23 onto the reference plane and the projection of the axis 34 of the second driving member 33 onto the reference plane intersect below the bottom shell 12, between the first driving member 23 and the second driving member 33.
[0035] In the panoramic drone 100, the first field of view 60 of the first fisheye lens 40 and the second field of view 70 of the second fisheye lens 50 intersect, enabling panoramic photography. Furthermore, both the rear arm 20 and the front arm 30 are located in the stitching blind spot 90, and the projection of the axis 24 of the first driving member 23 onto the reference plane and the projection of the axis 34 of the second driving member 33 onto the reference plane intersect below the bottom shell 12 between the first driving member 23 and the second driving member 33. That is, the axis 24 of the first driving member 23 and the axis 34 of the second driving member 33 extend at an outward angle in the bottom shell 12, so the first blade 22 and the second blade 32, driven by the first driving member 23 and the second driving member 33, respectively, are inclined outward relative to the bottom shell 12. This effectively prevents the blades from blocking the field of view.
[0036] 3 and 6 , taking the first blade 22 as an example, when the first blade 22 is tilted outward, compared with when the first blade 22 is horizontally or inwardly tilted, the inclination of the plane on which the outwardly tilted first blade 22 is located tends to coincide with the field of view of the first fisheye lens 40. This prevents the blade from blocking the first stitching area or the first field of view 60 of the first fisheye lens 40, and the panoramic shooting range of the panoramic drone 100 is not smaller than the range formed by the first stitching area and the second stitching area, or coincides with the field of view formed by the first field of view 60 and the second field of view 70. In other words, the panoramic shooting range of the panoramic drone 100 can cover the entire first stitching area and the entire second stitching area, and can also cover the entire first field of view 60 and the entire second field of view 70.
[0037] 6, the first fisheye lens 40 has a first field of view angle A and a first stitching region angle P1, where the first field of view angle A corresponds to the first field of view area 60 and the first stitching region angle P1 corresponds to the first stitching region. When the first field of view angle A and the first stitching region angle P1 of the first fisheye lens 40 provided on the top shell 11 are 200° and 190°, respectively, if the first blade 22 is provided horizontally or tilted inward as in the conventional case, the inclination of the plane on which the first blade 22 is located tends not to coincide with the viewing angle direction of the first lens 40. Therefore, the end of the first blade 22 far from the first fisheye lens 40 may extend into the first stitching region, occluding part of the first stitching region, i.e., the first field of view area 60. Therefore, the field of view angle of the actual shooting range of the first fisheye lens 40 may be smaller than the first stitching area angle P1 of the first fisheye lens 40, that is, may be less than 190°. In this way, the actual shooting range of the panoramic drone 100 is smaller than the range covered by the first stitching area and the second stitching area, and naturally, is smaller than the range covered by the first field of view area 60 and the second field of view area 70.
[0038] 3, when the first blade 22 is tilted outward, the inclination of the plane on which the first blade 22 is located tends to coincide with the viewing angle direction of the first fisheye lens 40, thereby preventing the first blade 22 from blocking the first stitching area. The field of view actually captured by the first fisheye lens 40 is greater than the first stitching area angle P1 of the first fisheye lens 40, i.e., greater than 190°, or may be the same as the first field of view angle A of the first fisheye lens 40 itself, i.e., 200°. In this way, the actual shooting range of the panoramic drone 100 is greater than the range covered by the first stitching area and the second stitching area, or coincides with the range covered by the first field of view area 60 and the second field of view area 70.
[0039] Specifically, the side shells include a first side shell 13, a second side shell 14, a first connecting shell 18, and a second connecting shell 19. The first side shell 13 faces the second side shell 14, and the first connecting shell 18 and the second connecting shell 19 are connected to both ends of the first side shell 13 and the second side shell 14. The top shell 11 includes a first top shell portion 111 and a second top shell portion 114 connected to the first top shell portion 111 and extending obliquely from one end of the first top shell portion 111 toward the bottom shell 12. The bottom shell 12 includes a first bottom shell portion 121 and a second bottom shell portion 122 extending obliquely from one end of the first bottom shell portion 121 toward the top shell 11.
[0040] FIG. 3 shows the first field of view angle A and the first stitching area angle P1 of the first fisheye lens 40. Both the first field of view angle A and the first stitching area angle P1 of the first fisheye lens 40 are greater than 180° (for example, in this embodiment, the second field of view angle B is 200°, and the second stitching area angle P2 is 190°). The range covered by the first field of view angle A is the first field of view area 60. The first field of view area 60 shown in FIG. 3 includes the area above line L. However, as will be understood by those skilled in the art in conjunction with FIG. 1, the first field of view area 60 is essentially a partial spherical area located on the side of the lens surface of the first fisheye lens 40 away from the bottom shell 12. The first stitching area is also a partial spherical area located on the side of the lens surface of the first fisheye lens 40 away from the bottom shell 12, and is located entirely within the first field of view area 60. The first fisheye lens 40 is protruding from the first top shell portion 111. The second top shell portion 114 extends at an angle from one end of the first top shell portion 111 toward the bottom shell 12, thereby preventing the top shell 11 from blocking the first field of view 60 of the first fisheye lens 40. Furthermore, the upper end of the center line of the first fisheye lens 40 is inclined toward the rear arm 20, further preventing the top shell 11 from blocking the first field of view 60 of the first fisheye lens 40. In one embodiment, the angle C between the center line T1 of the first fisheye lens 40 and the vertical direction is less than 20°.
[0041] 3 also shows the second field of view angle B and the second stitching area angle P2 of the second fisheye lens 50, where the second field of view angle B corresponds to the second field of view area 70 and the second stitching area angle P2 corresponds to the second stitching area. The second field of view angle B and the second stitching area angle P2 of the second fisheye lens 50 are both greater than 180° (for example, in this embodiment, the second field of view angle B is 200° and the second stitching area angle P2 is 190°). The range covered by the second field of view angle B is the second field of view area 70, and the range covered by the second stitching area angle P2 is the second stitching area. 3 includes the area below the line M, but as will be understood by those skilled in the art in combination with FIG. 1, the second field of view 70 is essentially a partial spherical area located on the side of the lens surface of the second fisheye lens 50 away from the top shell 11, and the second stitching area is also a partial spherical area located on the side of the lens surface of the second fisheye lens 50 away from the top shell 11, and is located entirely within the second field of view 70. Because the first stitching area angle P1 and the second stitching area angle P2 are both greater than 180°, the first stitching area and the second stitching area intersect to form a stitching angle area 92, while the area that cannot be covered by either the first stitching area or the second stitching area constitutes the stitching blind spot area 90.
[0042] In one mode of this embodiment, the first field of view angle A of the first fisheye lens 40 is equal to the first stitching area angle P1, and the second field of view angle B of the second fisheye lens 50 is equal to the second stitching area angle P2. At this time, the field of view blind area 80 is equal to the stitching blind area 90. In another mode of this embodiment, the first field of view angle A of the first fisheye lens 40 is greater than the first stitching area angle P1, and the second field of view angle B of the second fisheye lens 50 is greater than the second stitching area angle P2. In the unfolded mode, the rear arm 20 and the front arm 30 are located in the stitching blind area 90 of the first fisheye lens 40 and the second fisheye lens 50. Therefore, the panoramic image synthesized by the first fisheye lens 40 and the second fisheye lens 50 does not include other components of the panoramic drone 100, including multiple arms, thereby achieving unobstructed panoramic photography. Since the image at the boundary of the field of view of the fisheye lens is significantly distorted, the panoramic video formed by stitching the stitching area excluding the boundary area of the field of view is more effective. In addition, the image of the stitching corner area 92 formed by the intersection of the first stitching area and the second stitching area is removed and is not included in the panoramic video after stitching.
[0043] In addition, the field of view angles A, B and stitching area angles P1, P2 of the first fisheye lens 40 and the second fisheye lens 50 in the embodiments of the present application may all be the same, may be partially the same, or may be completely different, and can be adjusted appropriately according to the structural settings of the panoramic drone 100.
[0044] The second fisheye lens 50 is protruding from the second bottom shell portion 122. The second bottom shell portion 122 extends from one end of the first bottom shell portion 121 toward the top shell 11 at an angle, thereby preventing the bottom shell 12 from obscuring the second field of view 70 of the second fisheye lens 50. Furthermore, the upper end of the center line T2 of the second fisheye lens 50 is inclined toward the rear arm 20, further preventing the bottom shell 12 from obscuring the second field of view 70 of the second fisheye lens 50. In one embodiment, the angle D between the center line T2 of the second fisheye lens 50 and the vertical direction is less than 20°. In one embodiment, the center line T2 of the second fisheye lens 50 overlaps the center line T1 of the first fisheye lens 40. In this way, the second fisheye lens 50 and the first fisheye lens 40 can be arranged approximately symmetrically on the airframe 10, allowing the panoramic drone 100 to achieve a better visual effect.
[0045] In one embodiment, a support portion 17 is provided on the bottom shell 12, and one surface of the support portion 17 that is farther from the top shell 11 is a support surface 15 for contacting the landing surface 200. The second fisheye lens 50 is completely located between the plane on which the top shell 11 and the support surface 15 are located. This prevents the second fisheye lens 50 from contacting the landing surface 200 when the panoramic drone 100 lands, thereby preventing the second fisheye lens 50 from bumping or rubbing against the hard landing surface 200.
[0046] The rear arm 20 is provided close to the bottom shell 12, and the front arm 30 is located at the center of the side shell in the vertical direction and close to the first fisheye lens 40 in the horizontal direction. In this way, in response to the tendency for the blind spot 80 of the field of view between the first fisheye lens 40 and the second fisheye lens 50 to become narrower, by providing the front arm 30 at the center of the side shell in the vertical direction and close to the first fisheye lens 40 in the horizontal direction, it is possible to prevent the front arm 30 from blocking the first field of view 60 and the second field of view 70.
[0047] In one embodiment, the rear arm 20 includes a left rear arm 24 and a right rear arm 25 connected to the first side shell 13 and the second side shell 14, respectively. The front arm 30 includes a left front arm 34 and a right front arm 35 connected to the first side shell 13 and the second side shell 14, respectively. The left front arm 34 and the right front arm 35 are closer to the first fisheye lens 40 in the vertical direction than the left rear arm 24 and the right rear arm 25.
[0048] The second driving member 33 of the left front arm 34 drives the second blade 32 to rotate counterclockwise, the second driving member 33 of the right front arm 35 drives the second blade 32 to rotate clockwise, the first driving member 23 of the left rear arm 24 drives the first blade 22 to rotate clockwise, and the first driving member 23 of the right rear arm 25 drives the first blade 22 to rotate counterclockwise. The front arm 30 is disposed close to the nose of the drone, and the rear arm 20 is disposed close to the tail of the drone. When the panoramic drone 100 is flying, the left front second blade 32 rotating counterclockwise, the right front second blade 32 rotating clockwise, the left rear first blade 22 rotating clockwise, and the right rear first blade 22 rotating counterclockwise provide blade lift, enabling the panoramic drone 100 to take off and fly. In addition, since both the first blade 22 and the second blade 32 are tilted outward, a component force in the direction of the counter torque of the blade lift is obtained, i.e., the counter torque is increased, improving the response speed of the first blade 22 and the second blade 32 during operation.
[0049] 1 and 7 , in one embodiment, the rear arm 20 and the front arm 30 include a deployment mode and a gathering mode. The rear arm 20 further includes a first rotating arm 26 rotatably connected to the side shell. The first drive member 23 is provided at the end of the first rotating arm 26. The front arm 30 further includes a second rotating arm 36 rotatably connected to the side shell, and the second drive member 33 is provided at the end of the second rotating arm 36. When the panoramic drone 100 is switched from the deployment mode to the gathering mode, the first rotating arm 26 and the second rotating arm 36 rotate toward each other and approach the side shell in which they are located. In one embodiment, the rear arm 20 includes the left rear arm 24 and the right rear arm 25, and the front arm 30 includes the left front arm 34 and the right front arm 35. The left front arm 34 and the left rear arm 24 rotate to face each other and approach the first side shell 13, and the right front arm 35 and the right rear arm 25 rotate to face each other and approach the second side shell 14.
[0050] 3, in one embodiment, the surface of the first rotating arm 26 at the end far from the top shell 11 is the ground surface 21. In the deployed mode, the ground surface 21 is flush with the support surface 15. In this way, when the panoramic drone 100 lands, the rear arm 20 and the support part 17 jointly support the panoramic drone 100, reducing the load on the support part 17 and advantageously extending the life of the panoramic drone 100.
[0051] 3 and 8, in one embodiment, the first rotating arm 26 includes a slope 261 facing the first driving member 23. The first driving member 23 is fixed to the slope 261. The plane on which the first blade 22 is located is parallel to the slope 261 and perpendicular to the axis 24 of the first driving member 23. One side of the first driving member 23 closer to the first fisheye lens 40 is higher than the other side of the first driving member 23 farther from the first fisheye lens 40. Therefore, the first blade 22 is provided so as to slope outward. In one embodiment, the first driving member 23 is a motor whose case is cylindrical. The structure of the front arm 30 may be the same as that of the rear arm 20, and therefore a description thereof will be omitted here. Referring to FIG. 5, the angle E formed between the axis 24 of the first driving member 23 and the vertical direction is 0° to 20°, and the angle F formed between the axis 34 of the second driving member 33 and the vertical direction is also 0° to 20°.
[0052] While certain features and aspects of exemplary embodiments have been described, those skilled in the art will recognize that many variations are possible. For example, the methods and processes described herein may be implemented using hardware components, software components, and / or any combination thereof. Additionally, while methods and processes are described with respect to particular structural and / or functional components, the methods provided by the above embodiments are not limited to a particular structural and / or functional architecture and may be implemented in any suitable hardware, firmware, and / or software configuration. Similarly, although a function may be attributed to a system component, that function may be distributed among various other system components according to some embodiments, unless the context dictates otherwise.
[0053] Furthermore, although the methods and processes herein are described in a particular order for ease of explanation, processes may be reordered, added, and / or omitted, depending on the implementation, unless the context clearly dictates otherwise. Furthermore, processes described with respect to one method or process may be incorporated into other methods or processes described, but the present application is not limited thereto. Similarly, components described with respect to a particular configuration architecture and / or one system may be arranged in alternative configurations and / or incorporated into other systems described. Thus, while embodiments are described with or without certain features, various components and / or features described herein with respect to a particular implementation may be substituted, added, or deleted, unless the context dictates otherwise. Thus, while several illustrative embodiments have been described above, it should be understood that the present invention intends to cover all modifications and equivalents within the scope of the appended claims.
Claims
1. a fuselage including a top shell, a bottom shell, and a side shell connected between the top shell and the bottom shell; a first fisheye lens provided on the top shell and having a first field of view area and a first stitching area not exceeding the first field of view area; a second fisheye lens provided on the bottom shell, the second fisheye lens having a second field of view and a second stitching area not exceeding the range of the second field of view, the second field of view and the first field of view intersecting to form an overlapping area and a field of view blind spot area, and an area that cannot be covered by either the first stitching area or the second stitching area forms a stitching blind spot area; a rear arm provided on the side shell and including a first blade and a first driving member that drives the first blade to rotate; A panoramic drone comprising: a forearm provided on the side shell, the forearm including a second blade and a second drive member that drives the second blade to rotate; The rear arm and the front arm are both located in the stitching blind spot area, and when a plane on which the center line of the first fisheye lens is located and perpendicular to the horizontal plane is taken as a reference plane, the projection of the axis of the first driving member onto the reference plane and the projection of the axis of the second driving member onto the reference plane intersect below the bottom shell and between the first driving member and the second driving member.
2. The angle formed between the axis of the first driving member and the vertical direction is 0° to 20°, and the angle formed between the axis of the second driving member and the vertical direction is 0° to 20°. The panoramic drone of claim 1 .
3. The side shells include a first side shell and a second side shell facing each other, the rear arms include a left rear arm and a right rear arm connected to the first side shell and the second side shell, respectively, and the front arms include a left front arm and a right front arm connected to the first side shell and the second side shell, respectively. The panoramic drone of claim 1 .
4. The second driving member of the left front arm drives the second blade to rotate counterclockwise, the second driving member of the right front arm drives the second blade to rotate clockwise, the first driving member of the left rear arm drives the first blade to rotate clockwise, and the first driving member of the right rear arm drives the first blade to rotate counterclockwise. The panoramic drone according to claim 3.
5. The side shell further includes a first connecting shell and a second connecting shell, the first connecting shell and the second connecting shell are connected to both ends of the first side shell and the second side shell, and the first fisheye lens is provided close to the first connecting shell. The panoramic drone according to claim 3.
6. The top shell includes a first top shell portion and a second top shell portion connected to the first top shell portion, the first fisheye lens is provided in a protruding manner on the first top shell portion, and the second top shell portion extends obliquely from one end of the first top shell portion toward the bottom shell. The panoramic drone of claim 1 .
7. In the vertical direction, the left front arm and the right front arm are closer to the first fisheye lens than the left rear arm and the right rear arm. The panoramic drone according to claim 3.
8. The rear arm includes a first rotating arm rotatably connected to the side shell, the first driving member is provided at an end of the first rotating arm, the front arm includes a second rotating arm rotatably connected to the side shell, the second driving member is provided at an end of the second rotating arm, and the first rotating arm and the second rotating arm face each other and rotate to approach the side shells where they are located. The panoramic drone of claim 1 .
9. The rear arm includes a first rotating arm rotatably connected to the side shell, the first rotating arm including a slope facing the first driving member, the first driving member being fixed to the slope, a plane on which the first blade is located is parallel to the slope and perpendicular to an axis of the first driving member, and one side of the first driving member closer to the first fisheye lens is higher than the other side of the first driving member farther from the first fisheye lens. The panoramic drone of claim 1 .
10. The bottom shell includes a first bottom shell portion and a second bottom shell portion, the second bottom shell portion extends obliquely from one end of the first bottom shell portion to the top shell, and the second fisheye lens is protruded from the second bottom shell portion. The panoramic drone of claim 1 .
11. The bottom shell is provided with a support portion, and one surface of the support portion farther from the top shell is a support surface, and the second fisheye lens is completely located between the top shell and a plane on which the support surface is located. The panoramic drone of claim 1 .
12. The front arm and the rear arm have a deployment mode, and a surface of the terminal end of the rear arm farther from the top shell is a ground contact surface, and in the deployment mode, the ground contact surface is flush with the support surface of the support portion. The panoramic drone of claim 11.
13. The upper end of the center line of the first fisheye lens and the upper end of the center line of the second fisheye lens are inclined toward the rear arm. The panoramic drone of claim 1 .
14. The center line of the first fisheye lens overlaps with the center line of the second fisheye lens. The panoramic drone of claim 13.
15. The angle formed by the center line of the first fisheye lens and the vertical direction and the angle formed by the center line of the second fisheye lens and the vertical direction are both less than 20°. The panoramic drone of claim 13.
16. an airframe having a side shell including a first side shell and a second side shell opposed to each other; a rear arm including a left rear arm and a right rear arm connected to the first side shell and the second side shell, respectively, each of the left and right rear arms including a first blade and a first drive member that drives the first blade to rotate, the first drive member of the left rear arm driving the first blade to rotate clockwise, and the first drive member of the right rear arm driving the first blade to rotate counterclockwise; a forearm including a left forearm and a right forearm connected to the first side shell and the second side shell, respectively, each of the left and right forearms including a second blade and a second drive member that drives the second blade to rotate, the second drive member of the left forearm driving the second blade to rotate counterclockwise, and the second drive member of the right forearm driving the second blade to rotate clockwise; A panoramic drone characterized by comprising:
17. The panoramic drone of claim 16, wherein the airframe further comprises a top shell and a bottom shell, the side shells are connected between the top shell and the bottom shell, and the left front arm and the right front arm are closer to the top shell than the left rear arm and the right rear arm.
18. 17. The panoramic drone of claim 16, wherein the airframe further comprises a top shell and a bottom shell, the side shells being connected between the top shell and the bottom shell, the panoramic drone further comprises a first fisheye lens provided on the top shell and a second fisheye lens provided on the bottom shell, the first fisheye lens having a first field of view and the second fisheye lens having a second field of view, the second field of view and the first field of view intersecting to form an overlapping area and a blind spot area, the rear arm and the front arm are both located in the blind spot area, and when a plane on which the center line of the first fisheye lens is located and which is perpendicular to the horizontal plane is taken as a reference plane, a projection of the axis of the first driving member onto the reference plane and a projection of the axis of the second driving member onto the reference plane intersect below the bottom shell between the first driving member and the second driving member.
19. The panoramic drone of claim 18, characterized in that the angle between the axis of the first driving member and the vertical direction is 0° to 20°, and the angle between the axis of the second driving member and the vertical direction is 0° to 20°.
20. 19. The panoramic drone of claim 18, wherein the rear arm comprises a first rotating arm rotatably connected to the side shell, the first rotating arm having a slope facing the first driving member, the first driving member being fixed to the slope, a plane on which the first blade is located is parallel to the slope and perpendicular to an axis of the first driving member, and one side of the first driving member closer to the second driving member is higher than the other side of the first driving member farther from the second driving member.