WO2019119398A1

WO2019119398A1 - Underwater drone with capacity of multi-shooting view

Info

Publication number: WO2019119398A1
Application number: PCT/CN2017/117933
Authority: WO
Inventors: Weifeng ZHENG; Guangzhang Wu; Xu Guo; Wei Li; Xinyou LI
Original assignee: Powervision Tech Inc.
Priority date: 2017-12-22
Filing date: 2017-12-22
Publication date: 2019-06-27

Abstract

An underwater drone is disclosed and includes a drone body (1), a first image capturing module (3) and an image reflecting module (4). An accommodating chamber (10) is formed in the drone body (1). The first image capturing module (3) is disposed in the accommodating chamber (10) and for capturing an image of a first object which is located on a first outer side out of the drone body (1). The image reflecting module (4) is disposed in the accommodating chamber (10) and for reflecting the image of the first object to the first image capturing module (4). Thus, the underwater drone is equipped with multiple image capturing modules (2, 3) for multi-shooting view.

Description

UNDERWATER DRONE WITH CAPACITY OF MULTI-SHOOTING VIEW

Background of the Invention

1. Field of the Invention

The present invention relates to an underwater drone, and more particularly, to an underwater drone with capacity of multi-shooting view.

2. Description of the Prior Art

Recently, an underwater drone which is capable of diving and moving underwater has been gradually implemented in entertainment purpose of people’s daily life. For example, people raise interests in capturing images underwater by the underwater drone. However, a conventional underwater drone is equipped with one camera, and the camera is disposed at a front end of the underwater drone. It results in that the underwater drone can only capture images of an object which is located in front of the underwater drone. Especially, the conventional underwater drone cannot capture images of an object which is located on a top side or a bottom side of the drone body.

Summary of the Invention

Thus, the present invention provides an underwater drone with capacity of multi-shooting view for solving above drawbacks.

For the aforesaid purpose, the present invention discloses an underwater drone including a drone body, a first image capturing module and an image reflecting module. An accommodating chamber is formed in the drone body. The first image capturing module is disposed in the accommodating chamber and for capturing an image of a first object which is located on a first outer side out of the drone body. The image reflecting module is disposed in the accommodating chamber and for reflecting the image of the first object to the first image capturing module.

According to an embodiment, the drone body has a first transparent portion. The image reflecting module includes a reflective mirror disposed on a side of the first image capturing module. The image of the first object projects to the reflective mirror via the first transparent portion, and the reflective mirror reflects the image of the first object to the first image capturing module.

According to an embodiment, the image reflecting module further includes a first electro-actuating member coupled to the reflective mirror. The first electro-actuating member has a first actuating axis and is for driving the reflective mirror to rotate about the first actuating axis. The first electro-actuating member drives the reflective mirror to rotate in a first rotating direction, so that the reflective mirror reflects the image of the first object to the first image capturing module.

According to an embodiment, the drone body has a second transparent portion. The first transparent portion and the second transparent portion are disposed on opposite sides of the drone body. The first electro-actuating member drives the reflective mirror to rotate in a second rotating direction opposite to the first rotating direction, so that the reflective mirror reflects an image of a second object to the first image capturing module, wherein the second object is located on a second outer side out of the drone body, and the first outer side and the second outer side are located on opposite sides of the drone body.

According to an embodiment, the image reflecting module further includes a second electro-actuating member, a first gear member and a second gear member. The second electro-actuating member has a second actuating axis. The first gear member is connected to the first electro-actuating member. The second gear member is fixed with the second actuating axis and engages with the first gear member, wherein the second electro-actuating member drives the first gear member to rotate via engagement between the first gear member and the second gear member.

According to an embodiment, the center processing unit is coupled to the first image capturing module, the first electro-actuating member and the second-actuating member. The center processing unit further does image processing over the image captured by the first image capturing module. The center processing unit further controls the image reflecting module to reflect the image of the first object and to project the image of the first object within a field of view of the first image capturing module by driving the first electro-actuating member and the second-actuating member according to a result of the image processing over the image captured by the first image capturing module.

According to an embodiment, the first gear member is an annular gear, and the second gear member is a pinion.

According to an embodiment, the drone body has a longitudinal axis. The drone body is arranged along the longitudinal axis. The second actuating axis and the longitudinal axis are perpendicular to each other.

According to an embodiment, the drone body has a first transparent portion, and the first image capturing module captures the image of the first object via the first transparent portion.

According to an embodiment, the drone body has a second transparent portion. The first transparent portion and the second transparent portion are disposed on opposite sides of the drone body. The first image capturing module captures the image of the first object via the first transparent portion. The first image capturing module further captures an image of a second object which is located on a second outer side out of the drone body via the second transparent portion. The first outer side and the second outer side are located on opposite sides of the drone body.

According to an embodiment, the drone body has a longitudinal axis, the drone body is arranged along the longitudinal axis. The underwater drone further includes a horizontal propeller module coupled with the drone body and oriented parallel to the longitudinal axis. The horizontal propeller module is for driving the drone body to move forwards or backwards along the longitudinal axis. The horizontal propeller module is further for driving the drone body to rotate about a vertical axis perpendicular to the longitudinal axis. The underwater drone further includes a vertical propeller module coupled with the drone body and oriented parallel to the vertical axis. The vertical propeller module is for driving the drone body to move upwards or downwards.

According to an embodiment, the first image capturing module has a first symmetric axis. The first symmetric axis and the longitudinal axis are parallel to each other.

According to an embodiment, the underwater drone further includes a second image capturing module coupled with and exposed on the drone body. The second image capturing module is for capturing an image of a second object which is located on a third outer side out of the drone body, wherein the third outer side is different from the first outer side.

According to an embodiment, the underwater drone further includes a center processing unit coupled to the second image capturing module. The center processing unit does image processing over the image captured by the second image capturing module. The center processing unit further controls the drone body to avoid an obstacle according to a result of the image processing over the image captured by the second image capturing module.

According to an embodiment, the underwater drone further includes a center processing unit. The center processing unit is coupled to the first image capturing module. The center processing unit is for doing image processing over the image captured by the first image capturing module. The center processing unit is further for controlling the drone body to track the first object according to a result of the image processing over the image captured by the first image capturing module.

In summary, the underwater drone is equipped with the second image capturing module and the first image capturing module, and the second image capturing module and the first image capturing module are responsible for capturing the images of objects which are located on different outer sides of the drone body, so that the underwater drone with capacity of multi-shooting view is achieved.

These and other objectives of the present invention will no doubt become obvious to those of ordinary skill in the art after reading the following detailed description of the preferred embodiment that is illustrated in the various figures and drawings.

Brief Description of the Drawings

FIG. 1 is a diagram of an underwater drone according to an embodiment of the present invention.

FIG. 2 is a side view of the underwater drone according to the embodiment of the present invention.

FIG. 3 is a diagram of a first image capturing module and an image reflecting module according to the embodiment of the present invention.

FIG. 4 is a diagram of the first image capturing module and the image reflecting module in another view according to the embodiment of the present invention.

FIG. 5 is a diagram of the underwater drone utilized for capturing image of an object according to the embodiment of the present invention.

FIG. 6 is a diagram of the first image capturing module and the image reflecting module in a status for capturing image of the object according to the embodiment of the present invention.

FIG. 7 is a diagram of the underwater drone utilized for capturing image of an object according to the embodiment of the present invention.

FIG. 8 is a diagram of the first image capturing module and the image reflecting module in a status for capturing image of the object according to the embodiment of the present invention.

FIG. 9 is a diagram of the underwater drone utilized for capturing image of an object which is located on a below-left outer side according to the embodiment of the present invention.

FIG. 10 is a diagram of the first image capturing module and the image reflecting module in a status for capturing image of the object which is located on a below-left outer side according to the embodiment of the present invention.

FIG. 11 is a top view of the first image capturing module and the image reflecting module in a status for capturing image of the object which is located on a below-left outer side according to the embodiment of the present invention.

FIG. 12 is a functional block diagram of the underwater drone according to the embodiment of the present invention.

Detailed Description

In the following detailed description of the embodiments, reference is made to the accompanying drawings which form a part hereof, and in which is shown by way of illustration specific embodiments in which the invention may be practiced. In this regard, directional terminology, such as "top, " "bottom, " etc., is used with reference to the orientation of the Figure (s) being described. The components of the present invention can be positioned in a number of different orientations. As such, the directional terminology is used for purposes of illustration and is in no way limiting. On the other hand, the drawings are only schematic and the sizes of components may be exaggerated for clarity. It is to be understood that other embodiments may be utilized and structural changes may be made without departing from the scope of the present invention. Also, it is to be understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting. The use of “including, ” “comprising, ” or “having” and variations thereof herein is meant to encompass the items listed thereafter and equivalents thereof as well as additional items. Unless limited otherwise, the terms “connected, ” and “installed” and variations thereof herein are used broadly and encompass direct and indirect connections and installations. Accordingly, the drawings and descriptions will be regarded as illustrative in nature and not as restrictive.

Please refer to FIG. 1 and FIG. 2. FIG. 1 is a diagram of an underwater drone 1000 according to an embodiment of the present invention. FIG. 2 is a side view of the underwater drone 1000 according to the embodiment of the present invention. As shown in FIG. 1, the underwater drone 1000 includes a drone body 1, a second image capturing module 2 and a first image capturing module 3. The drone body 1 has an accommodating chamber 10 formed therein. The second image capturing module 2 is coupled with and exposed on the drone body 1. The first image capturing module 3 is disposed in the accommodating chamber 10.

Furthermore, the second image capturing module 2 is for capturing an image of a second object which is located on a third outer side out of the drone body 1. The first image capturing module 3 is for capturing an image of a first object which is located on a first outer side out of the drone body 1. In this embodiment, the third outer side is ahead of a front end of the drone body 1, and the first outer side is neither above or below the drone body 1, i.e., the third outer side is different from the first outer side. In such a manner, the second image capturing module 2 and the first image capturing module 3 are responsible for capturing the images of objects which are located on different outer sides of the drone body 1, so that the underwater drone 1000 with capacity of multi-shooting view is achieved

Furthermore, the drone body 1 has a longitudinal axis 16, and the drone body 1 is arranged along the longitudinal axis 16. In other words, the drone body 1 has a symmetric axis (i.e., the longitudinal axis 16) , and a right-half portion of the drone body 1 and a left-half portion of the drone body 1 are symmetric to each other relative to the longitudinal axis 16. The underwater drone 1000 further includes a horizontal propeller module 5 and a vertical propeller module 6. The horizontal propeller module 5 is coupled with the drone body 1 and oriented parallel to the longitudinal axis 16.

When the underwater drone 1000 is put underwater, the horizontal propeller module 5 is for driving the drone body 1 to move along the longitudinal axis 16. In other words, the horizontal propeller module 5 is for driving the drone body 1 to move forwards or backwards along the longitudinal axis 16. Namely, the longitudinal axis 16 of the drone body 1 is analogy for a roll axis of an airplane. Alternatively, the horizontal propeller module 5 is further for driving the drone body 1 to rotate about a vertical axis 17 perpendicular to the longitudinal axis 16. In this embodiment, an amount of the horizontal propeller module 5 is two, i.e., the horizontal propeller module 5 can include a left horizontal propeller module and a right horizontal propeller module, and the left horizontal propeller module is identical to the right propeller module.

In practical application, the underwater drone 1000 has a central processing unit (not shown in figures) , which is coupled to the left horizontal propeller module and the right horizontal propeller module of the horizontal propeller module 5. The central processing unit is able to control the left horizontal propeller module to work in a first power and control the right horizontal propeller module to work in a second power different from the first power, which results in rotation of the drone body 1 about the vertical axis 17 perpendicular to the longitudinal axis 16. The vertical axis 17 is analogy for a yaw axis of the airplane. Furthermore, the vertical propeller module 6 is disposed on the drone body 1 and oriented substantially parallel to the vertical axis 17. The vertical propeller module 6 is for driving the drone body 1 to rotate about a lateral axis 18 perpendicular to the longitudinal axis 16 and the vertical axis 17. The lateral axis 18 is analogy for a pitch axis of the airplane. The disposal of the vertical propeller module 6 provides the drone front end 10 with a direct force to move upwardly or downwardly.

As shown in FIG. 1 and FIG. 2, the second image capturing module 2 has a second symmetric axis 20, the first image capturing module 3 has a first symmetric axis 30, and the second symmetric axis 20, the first symmetric axis 30 and the longitudinal axis 16 are parallel to one another. In this embodiment, the second symmetric axis 20 is substantially coaxial to the first symmetric axis 30. Furthermore, the drone body 1 has a first transparent portion 11, the underwater drone 1000 further includes an image reflecting module 4, and the image reflecting module 4 is disposed in the accommodating chamber 10.

Please refer to FIG. 1 to FIG. 4. FIG. 3 is a diagram of the first image capturing module 3 and the image reflecting module 4 according to the embodiment of the present invention. FIG. 4 is a diagram of the first image capturing module 3 and the image reflecting module 4 in another view according to the embodiment of the present invention. As shown in FIG. 1 to FIG. 4, the image reflecting module 4 includes a reflective mirror 40 and a first electro-actuating member 41. The reflective mirror 40 is disposed on a side of the first image capturing module 3, i.e., the reflective mirror 40 is disposed in front of the first image capturing module 3. The first electro-actuating member 41 is coupled to the reflective mirror 40. The first electro-actuating member 41 has a first actuating axis 410, and the first actuating axis 410 is connected to the reflective mirror 40. Accordingly, the first electro-actuating member 41 is able to drive the reflective mirror 40 to rotate about the first actuating axis 410.

Please refer to FIG. 2, FIG. 5 and FIG. 6. FIG. 5 is a diagram of the underwater drone 1000 utilized for capturing image of an object 7 according to the embodiment of the present invention. FIG. 6 is a diagram of the first image capturing module 3 and the image reflecting module 4 in a status for capturing image of the object 7 according to the embodiment of the present invention. As shown in FIG. 2, FIG. 5 and FIG. 6, when the underwater drone 1000 is desired to capture the image of the object 7 which is located on the first outer side (i.e., the above side) of the drone body 1, the first electro-actuating member 41 drives the reflective mirror 40 to rotate in a first rotating direction X1, so that the reflective mirror 40 is rotated from a position shown in FIG. 2 to a position shown in FIG. 5 and FIG. 6. Meanwhile, the image of the object 7 is able to project to the reflective mirror 40 via the first transparent portion 11, and the reflective mirror 40 reflects the image of the object 7 to the first image capturing module 3.

Please refer to FIG. 2, FIG. 7 and FIG. 8. FIG. 7 is a diagram of the underwater drone 1000 utilized for capturing image of an object 7'according to the embodiment of the present invention. FIG. 8 is a diagram of the first image capturing module 3 and the image reflecting module 4 in a status for capturing image of the object 7'according to the embodiment of the present invention. As shown in FIG. 2, FIG. 7 and FIG. 8, the drone body 1 has a second transparent portion 12, and the first transparent portion 11 and the second transparent portion 12 are disposed on opposite sides of the drone body 1.

When the underwater drone 1000 is desired to capture an image of the object 7'which is located on the second outer s ide (i.e., the below side) of the drone body 1, the first electro-actuating member 41 drives the reflective mirror 40 to rotate in a second rotating direction X2 opposite to the first rotating direction X1, so that the reflective mirror 40 is rotated from a position shown in FIG. 2 to a position shown in FIG. 7 and FIG. 8. Meanwhile, the image of the object 7'is able to project to the reflective mirror 40 via the second transparent portion 12, and the reflective mirror 40 reflects the image of the object 7'to the first image capturing module 3.

Please refer to FIG. 3, FIG. 4 and FIG. 7 to FIG. 11. FIG. 9 is a diagram of the underwater drone 1000 utilized for capturing image of an object which is located on a below-left outer side according to the embodiment of the present invention. FIG. 10 is a diagram of the first image capturing module 3 and the image reflecting module 4 in a status for capturing image of the object which is located on a below-left outer side according to the embodiment of the present invention. FIG. 11 is a top view of the first image capturing module 3 and the image reflecting module 4 in a status for capturing image of the object which is located on a below-left outer side according to the embodiment of the present invention.

As shown in FIG. 3, FIG. 4 and FIG. 7 to FIG. 11, the image reflecting module 4 further includes a second electro-actuating member 42, a first gear member 43 and a second gear member 44. The second electro-actuating member 42 has a second actuating axis 420. The first gear member 43 is connected to the first electro-actuating member 41. The second gear member 44 is fixed with the second actuating axis 420 and engages with the first gear member 43. When an external object shows up on the below-left outer side out of the drone body 1, in addition to rotation of the reflective mirror 40 driven by the first electro-actuating member 41, the second electro-actuating member 42 drives the first gear member 43 to rotate via engagement between the first gear member 43 and the second gear member 44, so as to activate the reflective mirror 40 to be rotated to face the an external object which is on the below-left outer side out of the drone body 1.

As shown in FIG. 7 to FIG. 11, the second electro-actuating member 42 drives the first gear member 43 to rotate in a third rotating direction Y1, so that the reflective mirror 40, the first electro-actuating member 41 and the first gear member 43 are moved from a position shown in FIG. 7 and FIG. 8 to a position shown in FIG. 9 to FIG. 11, so as to capture the image of the external object shows up on the below-left outer side out of the drone body 1. In this embodiment, the first gear member 43 is an annular gear, and the second gear member 44 is a pinion. In addition, in this embodiment, the second actuating axis 420 and the longitudinal axis 16 are perpendicular to each other.

Namely, when the other external object shows up on the below-right outer side of the drone body 1, the second electro-actuating member 42 drives the first gear member 43 to rotate in a fourth rotating direction Y2 opposite to the third rotating direction Y1, so that the reflective mirror 40, the first electro-actuating member 41 and the first gear member 43 are moved from the position shown in FIG. 7 and FIG. 8 to the below-right outer side which the other external object shows up instead of the below-left outer side. The principle of utilization of the image reflecting module 4 for capturing images of the objects shown up on the above-left outer side and the above-right outer side of the drone body 1 is the same as that for capturing images of the objects shown up on the below-left outer side and the below-right outer side of the drone body 1, and further description is omitted herein for simplicity.

Please refer to FIG. 12. FIG. 12 is a functional block diagram of the underwater drone 1000 according to the embodiment of the present invention. As shown in FIG. 12, the underwater drone 1000 includes a center processing unit A, a first micro-controller unit B1, a second micro-controller unit B2, a first motor driver C1, a second motor driver C2, a first encoder D1, a second encoder D2, a first inertial measurement unit E1, a second inertial measurement unit E2, a low dropout linear regulator F and a battery G. The center processing unit A is for dealing with an image capturing task and calculating each of the sub-task for components (in this embodiment, they are the first electro-actuating member 41 and the second electro-actuating member 42) according to status detecting signals from the first encoder D1, the second encoder D2, the first inertial measurement unit E1 and the second inertial measurement unit E2, wherein the first inertial measurement unit E1 is for detecting status of the whole machine (i.e., the underwater drone 1000) , the second inertial measurement unit E2 is for detecting status of the module (i.e., the first image capturing module 3 and the image reflecting module 4) , the first encoder D1 is for detecting status of the first electro-actuating member 41, and the second encoder D2 is for detecting status of the second electro-actuating member 42.

Furthermore, the first micro-controller unit B1 and the first motor driver C1 take charge of controlling the first electro-actuating member 41 according to the control signals from the center processing unit A. The second micro-controller unit B2 and the second motor driver C2 take charge of controlling the second electro-actuating member 42 according to the control signals from the center processing unit A. The battery G provides the center processing unit A with power via the low dropout linear regulator F. Furthermore, the battery G provides the first motor driver C1 and the second motor driver C2 with power according to requirement sent from the first motor driver C1 and the second motor driver C2, respectively.

For example, when the underwater drone 1000 is desired to execute an image capturing task for an object which is on the below-left outer side out of the drone body 1, the center processing unit A analyses and calculates sub-tasks for the first electro-actuating member 41 and the second electro-actuating member 42 according to the status detecting signals from the first encoder D1, the second encoder D2, the first inertial measurement unit E1 and the second inertial measurement unit E2, and sends the controlling signals to the first micro-controller unit B1 and the second micro-controller unit B2. Afterwards, the first micro-controller unit B1 and the first motor driver C1 calculate the rotating direction and the input current of the first electro-actuating member 41, and the second micro-controller unit B2 and the second motor driver C2 calculate the rotating direction and the input current of the second electro-actuating member 42. Accordingly, the first electro-actuating member 41 and the second electro-actuating member 42 are able to drive the reflective mirror 40 and the first gear member 43 for achieving the image capturing task.

It should be noticed that an auto tracking function for the object which is located on an outer side of the drone body 1 can be achieved by the aforesaid controlling mechanism, the first image capturing module 3 and the image reflecting module 4 of the present invention. As shown in FIG. 12, the center processing unit A is coupled to the first image capturing module 3. Accordingly, the center processing unit A can do image processing over the image captured by the first image capturing module 3, so as to calculate relation between the drone body 1 and the object, such as relative position, relative velocity and so on. In such a manner, the center processing unit A is able to further control the drone body 1 to track the object (e.g., the first object located on the first outer side or the second object located on the second outer side) according to a result of the image processing over the image captured by the first image capturing module 3. In other words, the underwater drone 1000 is able to execute the auto tracking function for the object located on the above side or on the below side of the drone body 1 by utilizing the first image capturing module 3, which is disposed inside the drone body 1.

In addition, as shown in FIG. 12, the center processing unit A is coupled to the first image capturing module 3, the first electro-actuating member 41 and the second-actuating member 42. Accordingly, the center processing unit A is able to do image processing over the image captured by the first image capturing module 3 and control the first electro-actuating member 41 and the second-actuating member 42 according to a result of the image processing over the image captured by the first image capturing module 3.

As a result, the center processing unit A is further able to control the image reflecting module 4 to reflect the image of the object (e.g., the first object 7 or the second object 7') and to project the image of the object within a field of view of the first image capturing module 3 by driving the first electro-actuating member 41 and the second-actuating member 42 according to the result of the image processing over the image captured by the first image capturing module 3. Accordingly, it helps to keep the image of the object in the middle position of the whole image scope.

In addition, since the center processing unit A is also coupled to the second image capturing module 2 (as shown in FIG. 12) , the center processing unit A is able to do image processing over the image captured by the second image capturing module 2. Accordingly, the center processing unit A is able to determine whether there is an obstacle according to a result of the image processing over the image captured by the second image capturing module 2. In such a manner, the center processing unit A of the present invention is able further to control the drone body 1 to avoid the obstacle according to the result of the image processing over the image captured by the second image capturing module 2, i.e., the underwater drone 1000 of the present invention is able to execute an obstacle avoidance function by utilizing the second image capturing module 2 in the front end of the drone body 1.

Compared to the prior art, the underwater drone is equipped with the second image capturing module and the first image capturing module, and the second image capturing module and the first image capturing module are responsible for capturing the images of objects which are located on different outer sides of the drone body, so that the underwater drone with capacity of multi-shooting view is achieved.

Those skilled in the art will readily observe that numerous modifications and alterations of the device and method may be made while retaining the teachings of the invention. Accordingly, the above disclosure should be construed as limited only by the metes and bounds of the appended claims.

Claims

An underwater drone with capacity of multi-shooting view, comprising:

a drone body having an accommodating chamber formed therein;

a first image capturing module disposed in the accommodating chamber and for capturing an image of a first object which is located on a first outer side out of the drone body; and

an image reflecting module disposed in the accommodating chamber and for reflecting the image of the first object to the first image capturing module.
The underwater drone of claim 1, wherein the drone body has a first transparent portion, and the image reflecting module comprises:

a reflective mirror disposed on a side of the first image capturing module, the image of the first object proj ecting to the reflective mirror via the first transparent portion, and the reflective mirror reflecting the image of the first object to the first image capturing module.
The underwater drone of claim 2, wherein the image reflecting module further comprises:

a first electro-actuating member coupled to the reflective mirror, the first electro-actuating member having a first actuating axis and being for driving the reflective mirror to rotate about the first actuating axis, and the first electro-actuating member driving the reflective mirror to rotate in a first rotating direction, so that the reflective mirror reflects the image of the first object to the first image capturing module.
The underwater drone of claim 3, wherein the drone body has a second transparent portion, the first transparent portion and the second transparent portion are disposed on opposite sides of the drone body, the first electro-actuating member drives the reflective mirror to rotate in a second rotating direction opposite to the first rotating direction, so that the reflective mirror reflects an image of a second object to the first image capturing module, wherein the second object is located on a second outer side out of the drone body, and the first outer side and the second outer side are located on opposite sides of the drone body.
The underwater drone of claim 3, wherein the image reflecting module further comprises:

a second electro-actuating member having a second actuating axis;

a first gear member connected to the first electro-actuating member; and

a second gear member fixed with the second actuating axis and engaging with the first gear member;

wherein the second electro-actuating member drives the first gear member to rotate via engagement between the first gear member and the second gear member.
The underwater drone of claim 5, further comprising:

a center processing unit coupled to the first image capturing module, the first electro-actuating member and the second-actuating member, the center processing unit doing image processing over the image captured by the first image capturing module, the center processing unit further controlling the image reflecting module to reflect the image of the first object and to project the image of the first object within a field of view of the first image capturing module by driving the first electro-actuating member and the second-actuating member according to a result of the image processing over the image captured by the first image capturing module.
The underwater drone of claim 5, wherein the first gear member is an annular gear, and the second gear member is a pinion.
The underwater drone of claim 5, wherein the drone body has a longitudinal axis, the drone body is arranged along the longitudinal axis, and the second actuating axis and the longitudinal axis are perpendicular to each other.
The underwater drone of claim 1, wherein the drone body has a first transparent portion, and the first image capturing module captures the image of the first object via the first transparent portion.
The underwater drone of claim 9, wherein the drone body has a second transparent portion, the first transparent portion and the second transparent portion are disposed on opposite sides of the drone body, the first image capturing module captures the image of the first object via the first transparent portion, the first image capturing module further captures an image of a second object which is located on a second outer side out of the drone body via the second transparent portion, the first outer side and the second outer side are located on opposite sides of the drone body.
The underwater drone of claim 1, wherein the drone body has a longitudinal axis, the drone body is arranged along the longitudinal axis, and the underwater drone further comprises:

a horizontal propeller module coupled with the drone body and oriented parallel to the longitudinal axis, the horizontal propeller module being for driving the drone body to move forwards or backwards along the longitudinal axis, the horizontal propeller module being further for driving the drone body to rotate about a vertical axis perpendicular to the longitudinal axis; and

a vertical propeller module coupled with the drone body and oriented parallel to the vertical axis, the vertical propeller module being for driving the drone body to move upwards or downwards.
The underwater drone of claim 11, wherein the first image capturing module has a first symmetric axis, and the first symmetric axis and the longitudinal axis are parallel to each other.
The underwater drone of claim 1, further comprising:

a second image capturing module coupled with and exposed on the drone body, the second image capturing module being for capturing an image of a second object which is located on a third outer side out of the drone body, wherein the third outer side is different from the first outer side.
The underwater drone of claim 13, further comprising:

a center processing unit coupled to the second image capturing module, the center processing unit doing image processing over the image captured by the second image capturing module, the center processing unit further controlling the drone body to avoid an obstacle according to a result of the image processing over the image captured by the second image capturing module.
The underwater drone of claim 14, wherein the center processing unit is further coupled to the first image capturing module, the center processing unit does image processing over the image captured by the first image capturing module, the center processing unit further controls the drone body to track the first object according to a result of the image processing over the image captured by the first image capturing module.