SENSOR ASSEMBLY AND UNMANNED AERIAL VEHICLE

A sensor assembly for an unmanned aerial vehicle (UAV) includes a binocular sensor. The binocular sensor includes two vision sensors. The two vision sensors are located at a same vertical plane. The two vision sensors are arranged one above another at an interval.

TECHNICAL FIELD

The present disclosure relates to the aerial vehicle field and, more particularly, to a sensor assembly and an unmanned aerial vehicle.

BACKGROUND

With the development of technology, smart devices such as unmanned aerial vehicles (UAVs) have been applied in various fields.

Currently, a smart device needs to rely on a sensor device such as a vision sensor to detect an external environment when automatically executing a task. A binocular sensor includes two cameras arranged horizontally at an interval, thus, the binocular sensor obtains three-dimensional information of a surrounding environment or a to-be-detected object through a plurality of images by using a visual difference between the cameras at different positions, for example, a distance between the smart device and the object, to perform a thorough and reliable sensor detection. A detection distance of the binocular sensor is related to an interval between the two cameras. To form a relatively far detection distance, the two cameras are maintained at a relatively far interval.

However, since an arm and a propeller of the UAV are located at a side of the UAV, these structures are close to the cameras of the binocular sensor in a horizontal direction, which may easily block the cameras. As such, an obstacle avoidance distance is large.

SUMMARY

Embodiments of the present disclosure provide a sensor assembly for an unmanned aerial vehicle (UAV) including a binocular sensor. The binocular sensor includes two vision sensors. The two vision sensors are located at a same vertical plane. The two vision sensors are arranged one above another at an interval.

REFERENCE NUMERALS

DETAILED DESCRIPTION OF THE EMBODIMENTS

To make purposes, technical solutions, and advantages of embodiments of the present disclosure clearer, the technical solutions of embodiments of the present disclosure are described in detail in connection with the accompanying drawings of embodiments of the present disclosure. Described embodiments are some embodiments of the present disclosure but not all embodiments. Based on embodiments of the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts are within the scope of the present disclosure.

FIG. 1is a schematic structural diagram of a sensor assembly according to some embodiments of the present disclosure.FIG. 2is a schematic partial enlarged view showing part A inFIG. 1.FIG. 3is a schematic exploded view of the sensor assembly according to some embodiments of the present disclosure.FIG. 4is a schematic structural diagram showing a support member of the sensor assembly according to some embodiments of the present disclosure.FIG. 5is a schematic structural diagram showing a flexible sleeve of the sensor assembly according to some embodiments of the present disclosure. The sensor assembly shown inFIGS. 1-5can be applied to an unmanned aerial vehicle (UAV). The sensor assembly includes a binocular sensor1. The binocular sensor1includes two vision sensors11(i.e.,11aand11b), which may obtain images individually. The two vision sensors11aand11bare located in a same vertical plane. The two vision sensors11aand11bare arranged up and down at an interval, which are close to an upper end and a lower end of the UAV, respectively.

In some embodiments, during flight, the UAV may need to measure and determine a distance between the UAV and a surrounding obstacle to prevent the close-by obstacle to disturb the flight of the UAV or the UAV even from hitting the obstacle. To measure the distance between the UAV and the surrounding obstacle, the sensor assembly may be arranged at the UAV to realize operations of distance measurement, obstacle avoidance, etc., by using the sensors. A variety of sensors may be used to measure the distance, for example, the vision sensor may be usually used to measure the distance of the obstacle.

To measure the distance through the vision sensor, the sensor assembly includes the binocular sensor1. The binocular sensor may photograph and detect the object by using the two vision sensors11aand11barranged at an interval. As such, the images photographed by the two vision sensors11aand11bmay be processed comprehensively according to a distance difference and an angle difference between the two vision sensors to calculate the distance between the photographed object and the UAV. The vision sensor11may be usually a sensor capable of collecting an image such as a camera.

To realize the flight of the UAV in the air, the UAV may usually include a vehicle arm and a power assembly. The UAV may realize take-off and landing and normal flight by power generated by a propeller of the power assembly. Vehicle arms and power assemblies may be located at both sides of the UAV. Thus, when the vision sensors are close to the two sides of the UAV, the vehicle arm and the propeller may block or cover a viewing angle of a lens of the vision sensor11. As such, the image collected by the vision sensor11may be incomplete, which may affect the accurate determination of a special feature of the photographed object to result in inaccurate distance measurement. In some embodiments, to prevent the viewing angle of the lens of the vision sensor from being blocked by other structures of the UAV, the binocular sensor1may not be arranged left and right, but the two vision sensors11aand11bmay be arranged at the same vertical plane up and down at an interval. Further, the vision sensor s11aand11bmay be close to an upper end and a lower end of the UAV, respectively. Since the two vision sensors11aand11bare arranged up and down, a relatively large distance may be maintained between the vision sensors11aand11bto ensure that the binocular sensor1to have a sufficient detection distance. Further, the vision sensors11aand11bmay be arranged at an area away from the center axis of the propeller of the UAV. As such, a distance between the vision sensors11aand11band the propeller may be relatively large, which may effectively reduce blocking of the viewing angle of the lens of the vision sensors11aand11bby the propeller to ensure normal photographing and image collection by the vision sensors11aand11b.

In some embodiments, to ensure that both the vision sensors11aand11bof the binocular sensor1have relatively large distances to a blocking structure such as the propeller, both the two vision sensors11aand11bmay be located at a longitudinal symmetry plane of the UAV.

The UAV includes a left-right symmetry structure to ensure stability during flight. As such, the UAV may include a symmetry plane in a longitudinal direction, that is, in a direction that the UAV flies forward. The symmetry plane includes the same distance to vehicle arms and propellers on both sides of the UAV. Therefore, both the vision sensors11aand11bof the binocular sensor1may be arranged at the longitudinal symmetry plane of the UAV. Thus, the vision sensors11aand11bmay have the same distance to the left and right propellers of the UAV. That is, the vision sensors11aand11bmay maintain the same distance to the propellers at any side of the UAV. Thus, the distance is a maximum distance that the vision sensors11aand11bmay have to the propellers at the sides of the UAV, and the propellers may block the viewing angle of the lens of the vision sensor11at this position the least. If the vision sensor11is located at another position not on the longitudinal symmetry plane, the propeller at one side of the UAV may have a distance to the vision sensor11smaller than the maximum distance, thus, the propeller may block a larger area of the viewing angle of the lens.

In some embodiments, to realize normal distance measurement of the binocular sensor1, both the vision sensors11aand11bmay face the same direction. As such, both the vision sensors11aand11bmay perform detection toward a same side of the UAV, and both the vision sensors11aand11bmay detect the object and scene image in a same direction. The three-dimensional information of the object and the scene in this direction may be obtained by using differences between the images obtained by the two vision sensors11aand11bto realize a subsequent operation such as the distance measurement.

Optical axis directions of the vision sensors11aand11bmay be completely the same or have a certain angle therebetween. In some embodiments, the optical axes of the two vision sensors11aand11bmay be parallel to each other. As such, the two vision sensors11aand11bmay obtain images from the same angle, and the only difference is that a certain distance difference may exist between the two vision sensors11aand11b. Thus, subsequent image processing may be simplified, which is beneficial to obtaining distance information between the UAV and the to-be-detected object quickly and reliably.

In addition, when the vision sensors11aand11bof the binocular sensor1are at the same vertical plane, the vision sensors11aand11bmay face different directions within the vertical plane. As such, the binocular sensor1may perform the detection at different heights. In some embodiments, an optical centerline between the two vision sensors11aand the11bmay be caused to have an angle to a horizontal plane.

In some embodiments, optical centers of the vision sensors11aand11bmay be geometric center positions of the optical lenses of the vision sensors11aand11b. When the line connecting the optical centers (also referred to as an “optical centerline”) of the two vision sensors11aand11bis not parallel to the horizontal plane but has a certain angle to the horizontal plane, directions that the two vision sensors11aand11bface may not be above or below the sensor assembly but inclined toward the horizontal direction. As such, the binocular sensor1may perform detection and distance measurement on the object at the side. The directions that the vision sensors11aand11bof the binocular sensor1face may be determined by the size of the angle between the optical centerline and the horizontal plane.

Further, as a vision sensor arrangement manner, the optical centerline of the vision sensors11aand11bmay be maintained to be perpendicular to the horizontal plane. Thus, not only the vision sensors11aand11bmay be at the same vertical plane, but also the positions of the two vision sensors may overlap with each other along the up and down direction. Thus, since the optical centerline of the vision sensors11aand11bis along the vertical direction while the vision sensors11aand11bface the horizontal direction, the vision sensors11aand11bmay detect an object directly in front of the binocular sensor1to complete a distance measurement task in most flight statuses of the UAV.

In some embodiments, to connect and fix the vision sensor11, in some embodiments, the sensor assembly further includes a support member12. The support member12may be arranged at the UAV and may be configured to fix the vision sensor11. Thus, when the sensor assembly is fixed at the vehicle body2of the UAV, since the vision sensor11is arranged at the support member12, once the support member12is fixed at the vehicle body2, the sensor assembly can be positioned.

In some embodiments, to fix the vision sensor11at the support member12, a first fixing slot121configured to fix the vision sensor11may be arranged at the support member12. As such, the vision sensor11may be accommodated in the first fixing slot121to be fixed. The shape of the first fixing slot121may match the shape of the vision sensor11. For example, the first fixing slot121may be formed as a chamber with one side open and the other side closed to accommodate the vision sensor11in the chamber.

In some embodiments, since the relative position and relative angle between the two vision sensors11aand11bneed to maintain relatively high accuracy, the support member12may usually be an individual structural member. As such, the vision sensor11may be positioned by using the rigidity of the support member12, and the relative position and the relative angle between the two vision sensors11aand11bmay be relatively accurate.

In addition, to prevent the supporting12from generating deformation that may affect the relative position of the vision sensors11aand11b, the support member12may be made of a material with relatively high rigidity. For example, the support member12may be made of a metal material such as aluminum alloy.

When being fixed at the vehicle body2of the UAV, the support member12may be usually fixed by a snap connection or a threaded connection. Thus, a certain displacement or deformation may be generated between the support member12and the vehicle body2due to stress (stress of the threaded connection or stress generated during the snap connection and abutting) generated when the support member12is mounted at the vehicle body2. The displacement and the deformation may affect the support member12to cause the support member12to generate a certain deformation. As such, the relative position and angle may change between the two vision sensors11aand11bat the support member12. Moreover, the normal flight vibration generated when the UAV is in flight may be transferred to the support member12through the vehicle body2to affect the vision sensor11at the support member12. Therefore, to avoid a negative impact generated due to the mounting stress or flight vibration of the UAV2on the vision sensor11and ensure the binocular sensor1to work reliably, in some embodiments, the support member12of the sensor assembly may be flexibly connected to the vehicle body2of the UAV. Through a flexible connection, the mounting stress of the support member12may be reduced, and the vibration from the vehicle body2may be filtered. As such, the relative position and the relative angle between the vision sensors11aand11bfixed at the support member12may be maintained to be accurate.

In some embodiments, the flexible connection between the support member12and the vehicle body2may be realized through one of a plurality of manners. For example, a vibration-damping member, a vibration-damping structure, etc., may be arranged between the support member12and the vehicle body2. As one of the flexible connection manners, the sensor assembly may include a flexible connector. The flexible connector may be connected between the support member12and the vehicle body2of the UAV.

In some embodiments, the flexible connector may generate a certain elastic deformation to offset or absorb a portion of the mounting stress or the flight vibration from the vehicle body2of the UAV by the elastic deformation. To generate the elastic deformation, the flexible connector may include a structure that may generate the elastic deformation or may be made of a flexible material.

In some embodiments, to fix the support member12at the vehicle body2by the flexible connector, the support member12includes a fixing portion122. The fixing portion122may be configured to be connected to the vehicle body2of the UAV by the flexible connector. In some embodiments, the fixing portion122may be a protrusion structure protruding from the surface of the body of the support member12, or a positioning slot or an accommodation chamber arranged at the support member12. Thus, the flexible connector may be mounted at the support member12by the fixing portion122and connected to the vehicle body2.

In some embodiments, as one of the arrangement manners of the support member and the fixing portion, the two vision sensors11aand11bmay be arranged at two ends of the support member12, respectively. The fixing portion122may be located at the center section of the support member12. Thus, the support member12may include a shape of a fixing beam or fixing rod having a certain length, and the two vision sensors11aand11bmay be arranged at the upper and lower ends of the support member12. The fixing portion122of the support member12may be connected to the vehicle body of the UAV by the flexible connector. As such, a fixing point between the support member12and the vehicle body2may be located at the center section along the length direction of the support member12, and the support member12may cross the upper side and lower side of the fixing point along the longitudinal direction of the vehicle body2. Therefore, forces on two sides of the fixing point may be balanced, and a displacement phenomenon such as swinging will not occur to the support member12.

In some embodiments, to increase supporting stability of the support member12and strength of the connection structure between the support member12and the vehicle body2, an even number of fixing portions122may be included and are arranged symmetrically relative to the support member12. With the symmetric arrangement of the plurality of fixing portions122, the weight from the support member12may be distributed to different fixing portions122more evenly to reliably support and position the support member12.

In some embodiments, two fixing portions122may be included and may be arranged symmetrically on right and left sides of the support member12. As such, both the fixing portions122may be connected to the vehicle body2. Moreover, since the fixing portions122are arranged on two sides of the support member12, respectively, a gravity center of the two vision sensors11aand11barranged vertically at the support member12may be located between both the fixing portions122. As such, the support member12may be reliably supported and positioned, to avoid uneven forces and skewing of the support member12.

In some embodiments, when the support member12is connected to the vehicle body2of the UAV by the fixing portions122, the sensor assembly may further include a fixing member13. A first through-hole1221is arranged at the fixing portion122. The fixing member13passes through the first through-hole1221and may be connected to the vehicle body2of the UAV to fix the support member12at the vehicle body2.

In some embodiments, the first through-hole1221may be along the vertical direction or the horizontal direction. A shape of the fixing member13may match a shape and a diameter of the first through-hole1221. As such, after the fixing member13passes through the first through-hole1221, the fixing member13, the fixing portion122, and the vehicle body2may be relatively fixed by using cooperation between the fixing member13and a hole-surface of the first through-hole1221and the connection between the fixing member13and the vehicle body2.

When the fixing member13is connected to the vehicle body2, the fixing member13and the vehicle body2may be detachably connected through a threaded structure or a snapping connection structure. Thus, the sensor assembly may be conveniently maintained and replaced.

In some embodiments, to prevent the fixing member13from falling out from the first through-hole1221, the fixing member13includes a stopper131and a connector132. The connector132may be configured to pass through and arranged in the first through-hole1221and be connected to the vehicle body2. The stopper131may be configured to stop at an outer end surface of the first through-hole1221. As such, when the connector132and the vehicle body2are relatively fixed, the stopper131may stop at an outer side of the fixing portion122to prevent the fixing member13from falling out from the first through-hole1221.

In some embodiments, to facilitate the connection to the vehicle body2, the connector132may have a rod shape, and an outer surface of the connector132may be arranged with a connection thread. Thus, the connector132may pass through the first through-hole1221and may be connected to the vehicle body2by the connection thread. Correspondingly, a threaded hole21configured to cooperate with the connector132, is arranged at the vehicle body2.

In addition, to form a reliable stop, the stopper131may have a lid shape or a pie shape. Thus, a relatively large contact surface may be formed between the stopper131and the outer end surface of the first through-hole1221, and a protrusion dimension of the stopper131may be relatively tight.

As the possible fixing manner between the support member12and the vehicle body2, the flexible connector may include the corresponding structure and shape. In some embodiments, the flexible connector may include a flexible sleeve14. The flexible sleeve14may include a second through-hole141. The flexible sleeve14may be arranged in the first through-hole1221. The second through-hole141and the first through-hole1221are arranged coaxially. The fixing member13may be fixed at the inner side of the flexible sleeve14by the second through-hole141to cause the flexible sleeve14to form the flexible connection between the support member12and the fixing member13.

In some embodiments, the flexible sleeve14may be elastic and may be made of a material capable of generating a certain deformation. Therefore, when an external force and vibration are applied to the flexible sleeve14, the flexible sleeve14may absorb or filter the external force or vibration by the deformation of the flexible sleeve14. When the external force and the vibration are eliminated, the flexible sleeve14may restore to an original shape by the elasticity of the flexible sleeve14. In a fixing manner, the flexible sleeve14may be sleeved between the fixing member13and the surface of the first through-hole1221, and the outer surface of the flexible sleeve14may be connected to the fixing portion122of the support member12. The hole-surface of the second through-hole141of the flexible sleeve14may be connected to the fixing member13. Therefore, the mounting stress from the fixing member13and the vibration of the vehicle body2may be absorbed by the flexible sleeve14sleeved outside the fixing member13to reduce the impact on the support member12.

When the flexible sleeve14is arranged in the first through-hole1221, the flexible sleeve14may be positioned along the axial direction of the first through-hole1221by friction between the flexible sleeve14and the hole-surface of the first through-hole1221. However, when the UAV is operated for a long time, or a large vibration is generated during the flight of the UAV, the flexible sleeve14may slide out of the first through-hole1221, which may impact the normal flexible connection between the support member12and the fixing member13. In some embodiments, to enhance the positioning of the flexible sleeve14, a snap slot1222may be formed along a radial direction of the first through-hole1221and arranged at the fixing portion122, and a snap protrusion142cooperating with the snap slot1222may be arranged at the outer surface of the flexible sleeve14. When the flexible sleeve14is arranged in the first through-hole1221, the snap protrusion142may be snapped and arranged in the snap slot1222.

In some embodiments, since the flexible sleeve14may generate the elastic deformation, the flexible sleeve14may be easily mounted in the first through-hole1221, and the snap protrusion142at the outer surface of the flexible sleeve14may be snapped in the snap slot1222. As such, the fixing portion122may fix the flexible sleeve14in the axial direction by the snap slot1222.

Snap slots1222and snap protrusions142may include a plurality of quantities and shapes. For example, one or more snap slots1222may be included and may be arranged on opposite sides of the fixing portion122or along the axial direction of the first through-hole1221at intervals. The snap protrusion142may include a protrusion, an elastic snap claw, etc., protruding along the radial direction of the first through-hole1221. In some other embodiments, the snap slot1222and the snap protrusion142may be in other quantities and have other shapes, which are not repeated here.

In some embodiments, the flexible sleeve14or other flexible connectors may be an integral member made of the flexible material. For example, the flexible connector may be a silicone member. Silicone may have good elasticity and recovery ability, and also have good chemical stability and corrosion resistance. Thus, the silicone may adapt to an operating environment of the UAV to form the reliable flexible connection between the support member12and the vehicle body2of the UAV.

In addition, when the support member12is fixed at the vehicle body2, a certain moving gap may be retained. As such, when being impacted by the external force, the support member12may move as a whole, and a relatively large deformation may not be caused for a suspended part relative to a fixed part.

In the sensor assembly, the binocular sensor1may only implement the distance measurement task of one direction of the UAV. To realize the detection and distance measurement in other directions of the UAV, other sensors may need to be arranged at the UAV. In some embodiments, to perform the distance measurement operation in other directions, the sensor assembly may further include at least one additional sensor3, which may be also arranged at the support member12.

In some embodiments, the sensor assembly further includes sensors3, which may be configured for the distance measurement task or other detection tasks. Similar to the binocular sensor1, the sensors3may need to include relatively accurate and stable relative positions. Thus, the additional sensors3may be arranged at the support member12. The rigid support member12may be configured to stably support and accurately position the sensors3to ensure the sensors3to realize the detection tasks such as the accurate distance measurement task.

A function of the additional sensors3may include but be not limited to performing the distance measurement task. To facilitate the description, the additional sensors3may be described as an example of sensors configured for distance measurement.

In some embodiments, to cause the sensor assembly to perform the distance measurement in a plurality of directions, the detection direction of the binocular sensor1may point to the front of the sensor assembly, and a detection direction of the additional at least one sensor3may be different from the detection direction of the binocular sensor1. As such, the additional sensors3and the binocular sensor1may realize the distance measurement tasks in different directions to complete operations of the distance measurement and obstacle avoidance in the plurality of directions during the flight of the UAV.

In some embodiments, to fix the additional sensors3at the support member, a second fixing slot123may be arranged at the support member12to fix the at least one additional sensor3. The second fixing slot123may correspond to the additional at least one sensor3. A structure and shape of the second fixing slot123may match the additional sensor3to accommodate and fix the additional sensor3in the second fixing slot123. A number of the second fixing slots123may be equal to the number of the additional sensors3. As such, the additional sensors3may be fixed one by one correspondingly in the second fixing slots.

In some embodiments, to perform the detection in different directions, the at least one additional sensor3may include at least one of a first sensor31pointing to the side of the sensor assembly or a second sensor32pointing to the top of the sensor assembly. As such, the additional sensor3may perform the detection operation such as the distance measurement toward the side of the sensor assembly and the top of the sensor assembly to form complementary detection areas with the binocular sensor1, which may point to the front of the sensor assembly, to enlarge the area of the distance measurement and the obstacle avoidance.

In some embodiments, two first sensors31may be included. The two first sensors31may point to two opposite sides of the sensor assembly. As such, the detection directions of the two first sensors31may be arranged oppositely, that is, the two first sensors31may perform the detection in two side directions of the sensor assembly to provide a larger distance measurement and obstacle avoidance area. Thus, the two first sensors31may cooperate with the binocular sensor1to cover a detection area of about 270° of a circumstance of the sensor assembly. In some embodiments, the two first sensors31may point to the left and right sides of the sensor assembly, respectively.

In addition, in some embodiments, the first sensors31may be arranged at one side of the sensor assembly to perform a single side detection task of the sensor assembly.

In some embodiments, to cause the additional sensor3to perform the detection task such as the distance measurement, the additional sensor3may include a monocular vision sensor, a binocular sensor, a time of flight (TOF) sensor, etc. The monocular vision sensor and the binocular sensor both may obtain the distance between the sensor assembly and the to-be-detected object through the obtained visual images. A difference between the monocular vision sensor and the binocular sensor may be that the monocular vision sensor may use a change of images of the to-be-detected object when the UAV moves to realize the distance measurement. However, the binocular sensor may use the viewing angle difference between the two different vision sensors to perform the distance measurement. The TOF sensor may use a flight time ranging method to perform the distance measurement. In some embodiments, infrared detection light may be transmitted, while the detection light reflected by the to-be-detected object may be received to obtain the distance to the to-be-detected object. Different types of additional sensor3may be selected according to the structural space of the UAV or the user's needs. For example, the first sensor31may include the monocular vision sensor or the binocular sensor, and the second sensor32may include the TOF sensor.

In some embodiments, the sensor assembly may be applied at the UAV. The sensor assembly may include the binocular sensor. The binocular sensor may include the two vision sensors. The two vision sensors may be located at the same vertical plane and arranged up and down at an interval. As such, the vision sensors may be far away from the structure such as the propeller at the side of the UAV, which may effectively reduce the blocking of the propeller to the viewing angles of the lenses of the vision sensors and ensure the normal photography and the image collection of the vision sensors.

FIG. 6is a schematic structural diagram of a UAV200according to some embodiments of the present disclosure. As shown inFIG. 6, the UAV200consistent with embodiments of the present disclosure includes the vehicle body2, and the sensor assembly100arranged in the vehicle body2. The structure, function, and working principle of the sensor assembly100are described in detail above and are not repeated here.

In some embodiments, besides the vehicle body2, the UAV200further includes a vehicle arm4and a power assembly5arranged at the vehicle arm4. The sensor assembly100is arranged at the vehicle body2. The binocular sensor of the sensor assembly100may perform the detection task such as the distance measurement to ensure the UAV200to take off or land normally and safely.

A gimbal and a camera assembly may be arranged at the front end of the vehicle body2of the UAV200. In some embodiments, the sensor assembly100may be located at the rear end of the vehicle body2, As such, the sensor assembly200may be mainly configured to perform the detection task such as the distance measurement behind the UAV200to cause the UAV200to realize a flight operation such as the obstacle avoidance in the rear smoothly.

Since the UAV200as a whole is usually distributed symmetrically left and right, the binocular sensor of the sensor assembly100may be arranged at the longitudinal symmetry plane of the vehicle body2. As such, the vertically arranged vision sensors of the binocular sensor may have the same distance to two sides of the UAV200(the vehicle arm4and the power assembly5), and the distance may be the maximum distance that can be achieved. Therefore, the blocking of the vehicle arm4and the propeller of the power assembly5to the viewing angles of the lenses of the vision sensors may be small, which may improve the accuracy and reliability of the distance measurement.

In some embodiments, to accommodate the sensor assembly100and cause the sensor assembly to work normally, the vehicle body2of the UAV may include a chamber, which may be configured to accommodate the sensor assembly100. A first lens hole22connecting both inner and outer sides of the chamber may be arranged at the housing of the chamber. The first lens hole22may match the binocular sensor1of the sensor assembly100. Then, the whole sensor assembly100may be protected by the vehicle body2, and external light may enter the binocular sensor of the sensor assembly100through the first lens hole22. Thus, the binocular sensor may perform the normal image collection.

In addition, when the sensor assembly100further includes the at least one additional sensor, to cause the additional sensor to work normally, a second lens hole23, which connects both the inner and outer sides of the chamber and matches the at least one additional sensor, may be arranged at the vehicle body2. Then, the additional sensor may perform the detection task through the second lens hole23. A position and a size of the second lens hole23may match a position and a size of a detection end of the additional sensor.

To further improve the safety and reliability of the flight of the UAV200or complete other detection tasks, the UAV200may further include a binocular sensor arranged at the front of the vehicle body2, a binocular sensor arranged at the bottom of the vehicle body, an ultrasound sensor, an infrared sensor, etc. The binocular sensor being arranged at the front of the vehicle body2, the binocular sensor being arranged at the bottom of the vehicle body, the ultrasound sensor, and the infrared sensor may be used simultaneously or may be selectively installed and used.

In some embodiments, the UAV may include the vehicle body and the sensor assembly arranged inside the vehicle body. The sensor assembly may include the binocular sensor. The binocular sensor may include two vision sensors. The two vision sensors may be located at the same vertical plane and arranged up and down at an interval. As such, the vision sensors may be far away from the structures such as the propellers at the side of the UAV. The blocking of the propellers to the viewing angles of the lenses of the vision sensors may be effectively reduced. Thus, the normal photographing and the image collection of the vision sensors may be ensured.

In summary, above embodiments are only used to illustrate the technical solutions of the present disclosure, but not to limit the present disclosure. Although the present disclosure is described in detail with reference to above-described embodiments, those of ordinary skill in the art should understand that modifications may still be made to the technical solutions described in above-described embodiments, or equivalent replacements may still be made to some or all of the technical features. These modifications or replacements do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of embodiments of the present disclosure.