Unmanned aerial vehicles

Abstract

An unmanned aerial vehicle (100) comprises a fuselage (20); an arm (31) rotatably connected to the fuselage (20) so that the arm (31) can be selectively in a folded state or an unfolded state relative to the fuselage (20); and a power device (33) carried by the arm (31), the power device (33) being used to provide flight power. The arm (31) comprises a first arm and a second arm, the first arm rotates around a first rotation axis, and the second arm rotates around a second rotation axis along a conical surface, so that the second arm rotates from the folded state to enter the unfolded state.

Description

Technical Field

[0001] The invention relates to the field of unmanned aerial vehicles, and in particular to a foldable unmanned aerial vehicle and a frame, a kit, an assembly method, and an operation method thereof. Background Art

[0002] Small unmanned aerial vehicles have been widely used in various civil fields, especially in various fields such as geographical surveying and mapping, aerial photography and monitoring, because of their relatively low manufacturing costs, lightweight and flexible low-altitude, low-speed and hovering flight, small size and easy to carry. However, the arms of existing unmanned aerial vehicles are generally not foldable, which is not conducive to the miniaturization of the unmanned aerial vehicle. In addition, in order to enable the unmanned aerial vehicle to stand and protect the fuselage when landing, current unmanned aerial vehicles are generally provided with a tripod protruding from the fuselage. However, since the tripod protrudes from the fuselage, it is not conducive to the miniaturization of the unmanned aerial vehicle and also affects the appearance of the unmanned aerial vehicle. Therefore, how to reduce the increase in the fuselage volume caused by the arms and tripod when the unmanned aerial vehicle is not in use is a technical problem that the industry urgently needs to solve. Summary of the invention

[0003] In view of this, it is necessary to propose a foldable frame and an unmanned aerial vehicle, and it is also necessary to provide a kit for assembling the unmanned aerial vehicle, as well as an assembling method and an operating method of the unmanned aerial vehicle, so as to solve the above-mentioned problem of reducing the volume of the unmanned aerial vehicle when not in use.

[0004] A frame of an unmanned aerial vehicle comprises a fuselage and an arm, wherein the arm is rotatably connected to the fuselage so that the arm can be selectively in a folded state or an unfolded state relative to the fuselage;

[0005] Wherein, in the folded state and the unfolded state, the height of the free end of the arm relative to the bottom of the fuselage and the distance relative to the side surface of the fuselage are different.

[0006] Furthermore, a height of the free end of the arm compared to the bottom of the fuselage in the folded state is greater than a height of the free end of the arm compared to the bottom of the fuselage in the unfolded state.

[0007] Furthermore, the frame further comprises a tripod connected to the free end of the arm, the tripod being used to protect the fuselage from impact during the landing of the unmanned aerial vehicle and to support the fuselage when the unmanned aerial vehicle lands on a supporting surface;

[0008] Wherein, in the folded state and the unfolded state, the height of the tripod relative to the bottom of the fuselage is different.

[0009] Further, the distance between the tripod and the side surface of the fuselage in the folded state is smaller than the distance between the tripod and the side surface of the fuselage in the unfolded state.

[0010] Furthermore, a height of the free end of the tripod compared to the bottom of the fuselage in the folded state is greater than a height of the free end of the tripod compared to the bottom of the fuselage in the unfolded state.

[0011] Furthermore, when the arms are located at the unfolded position, the tripod faces the bottom of the fuselage and protrudes from the bottom of the fuselage.

[0012] Further, the arm includes a first arm, which rotates around a first rotation axis relative to the side surface of the fuselage, wherein the first rotation axis is inclined at a first predetermined angle relative to the yaw axis of the unmanned aerial vehicle, and the first rotation axis is roughly parallel to a plane defined by the yaw axis and the roll axis of the unmanned aerial vehicle, so that when the first arm rotates from the folded state to the unfolded state, the free end of the first arm is lowered in height compared to the bottom of the fuselage.

[0013] Furthermore, the first arm can be selectively maintained at a predetermined folded position and a predetermined unfolded position relative to the fuselage, and can be rotated between the folded position and the unfolded position, wherein when the first arm is located at the folded position, the free end of the first arm is in close contact with the fuselage, and when the first arm is located at the unfolded position, the free end of the first arm is away from the fuselage.

[0014] Further, the frame includes a plurality of the first arms, and the plurality of the first arms are respectively connected to different side surfaces of the fuselage, or are connected in pairs to opposite ends of the same side surface of the fuselage, or are connected in pairs to opposite side surfaces of the fuselage.

[0015] Further, the arm includes a second arm, which rotates around a second rotation axis relative to the side surface of the fuselage, wherein the second rotation axis is at a second predetermined inclination angle relative to the roll axis of the unmanned aerial vehicle, and the second rotation axis is substantially perpendicular to the yaw axis of the unmanned aerial vehicle, so that when the second arm rotates from the folded state to enter the unfolded state, the second arm flips 180 degrees relative to the fuselage, so that the surface of the second arm facing the top of the fuselage turns to face the bottom of the fuselage.

[0016] Furthermore, the second arm can be selectively maintained at a predetermined folded position and a predetermined unfolded position relative to the fuselage, and can be rotated between the folded position and the unfolded position, wherein when the second arm is located at the folded position, the free end of the second arm is in close contact with the fuselage, and when the second arm is located at the unfolded position, the free end of the second arm is away from the fuselage.

[0017] Furthermore, the frame includes a plurality of second arms, and the plurality of second arms are respectively connected to different side surfaces of the fuselage, or are connected in pairs to opposite ends of the same side surface of the fuselage, or are connected in pairs to opposite side surfaces of the fuselage.

[0018] Furthermore, the free end of the arm is used to connect a power device and a tripod, the power device is used to provide flight power, and the tripod is used to protect the fuselage from impact during the landing of the unmanned aerial vehicle and to support the fuselage when the unmanned aerial vehicle lands on a supporting surface; the power device and the tripod are respectively located on opposite sides of the free end of the arm, and the tripod protrudes from the bottom of the fuselage when the arm is in the deployed position.

[0019] Furthermore, the arm includes a first arm and a second arm, the first arm rotates around a first rotation axis on the same plane, so that the directions of the tripod and the power device connected to the first arm remain unchanged during the rotation of the first arm; the second arm rotates around the second rotation axis along a conical surface, so that when the second arm rotates from the folded state to the unfolded state, the second arm flips 180 degrees compared to the fuselage, and the directions of the tripod and the power device connected to the second arm also flip 180 degrees following the second arm during the rotation of the second arm.

[0020] Furthermore, the power device includes a propulsion unit, and in the folded state, the first arm places the connected propulsion unit on the top of the fuselage, and the second arm places the connected propulsion unit on the bottom of the fuselage.

[0021] Furthermore, the first arm and the second arm are respectively connected to opposite ends of the same side surface of the fuselage, and the first arm and the second arm are offset up and down, so that the first arm and the second arm can be buckled together in the folded state.

[0022] Furthermore, the fuselage includes a head located at one end of the roll axis direction of the unmanned aerial vehicle and a tail located at the other end of the roll axis direction, and the unmanned aerial vehicle includes at least one pair of arms connected to the head of the fuselage or close to the head, and at least one pair of arms connected to the tail of the fuselage or close to the tail.

[0023] Furthermore, the frame also includes a rotating mechanism arranged on the fuselage, which divides the fuselage into two parts, and enables one part of the fuselage to rotate 180 degrees relative to the other part around a third rotating axis of the rotating mechanism, and enables the flying component connected to one part of the fuselage to rotate 180 degrees relative to the flying component connected to the other part of the fuselage, wherein the third rotating axis is roughly parallel to the roll axis of the unmanned aerial vehicle.

[0024] Furthermore, the free end of the arm is also used to connect a power device, which is used to provide flight power. The power device at least includes a propulsion unit. The arm connected to the two parts of the fuselage respectively places the corresponding propulsion unit on the top and bottom of the fuselage in the folded state.

[0025] Furthermore, the free end of the arm is also used to connect to a power device, which is used to provide flight power. The power device includes a propulsion unit. A rotating mechanism is provided near the free end of the arm, and the rotating mechanism is used to rotate the free end of the arm in the folded position so that the propulsion unit is placed on the side surface of the fuselage.

[0026] Furthermore, the tripod is also used to provide an additional space for the communication antenna of the unmanned aerial vehicle.

[0027] Furthermore, the tripod is at a non-orthogonal angle relative to the length direction of the connected machine arm.

[0028] Furthermore, the tripod can be folded relative to the connected machine arm until it is attached to the connected machine arm.

[0029] Furthermore, the fuselage also includes a rotation limiting structure, which is used to be connected to the machine arm and limit the rotation angle of the machine arm.

[0030] Furthermore, the fuselage also includes a locking structure, which is used to connect with the arm and enable the arm to be maintained in a predetermined unfolded position in the unfolded state, and enable the arm to be maintained in a predetermined folded position in the folded state.

[0031] Furthermore, the fuselage also includes an elastic member, which is used to be connected to the arm and drive the arm to automatically retract to a predetermined folding position when the arm is folded to a first predetermined position relative to the fuselage.

[0032] Furthermore, the fuselage also includes an elastic member, which is used to be connected to the arm and drive the arm to automatically unfold to a predetermined unfolding position when the arm unfolds to a second predetermined position relative to the fuselage.

[0033] Furthermore, a first mounting portion is provided on the fuselage, and the first machine arm is mounted on the first mounting portion.

[0034] Furthermore, the first mounting portion is protruding from the fuselage.

[0035] Furthermore, a guide groove is provided on the fuselage, the first machine arm is installed in the guide groove, and the first machine arm is accommodated in the guide groove when it is located at the folded position.

[0036] Furthermore, a second mounting portion is provided on the fuselage, and the second machine arm is mounted on the second mounting portion.

[0037] Furthermore, the second mounting portion is protrudingly disposed on the fuselage.

[0038] An unmanned aerial vehicle, comprising:

[0039] The rack described in each of the above embodiments comprises a body and an arm; and

[0040] A power device carried on the aircraft arm is used to provide flight power.

[0041] Furthermore, the unmanned aerial vehicle also includes a flight controller, and the flight controller is used to control the flight state of the unmanned aerial vehicle.

[0042] Furthermore, in the folded state and the unfolded state, the height of the power device relative to the bottom of the fuselage and the distance relative to the side surface of the fuselage are different.

[0043] Furthermore, the power device at least includes an actuator and a propulsion unit, the propulsion unit is connected to the corresponding machine arm through the actuator, and the actuator is used to drive the propulsion unit to rotate to provide lift for the unmanned aerial vehicle.

[0044] Furthermore, a receiving portion is provided on the fuselage, the receiving portion is opposite to the actuator when it is located at a predetermined folding position, and the receiving portion is used to receive a partial structure of the actuator.

[0045] Furthermore, the propulsion unit is a propeller including at least two blades, and the blades of the propulsion unit can be folded together.

[0046] An unmanned aerial vehicle comprises a fuselage and a flight component for providing flight power, wherein the flight component is movably connected to the fuselage so that the flight component can be selectively in a folded state or an unfolded state relative to the fuselage;

[0047] Wherein, in the folded state and the unfolded state, the height of the flying component relative to the bottom of the fuselage and the distance relative to the side surface of the fuselage are different.

[0048] A kit for assembling an unmanned aerial vehicle, comprising:

[0049] The fuselage of an unmanned aerial vehicle; and

[0050] A flight component for providing flight power;

[0051] wherein the flight assembly is assembled on the fuselage according to the assembly operation instructions, so that the assembled flight assembly can be movably connected to the fuselage, and the flight assembly can be selectively in a folded state or an unfolded state relative to the fuselage;

[0052] Wherein, in the folded state and the unfolded state, the height of the flying component relative to the bottom of the fuselage and the distance relative to the side surface of the fuselage are different.

[0053] Furthermore, the flight assembly includes an arm, and the assembled arm is rotatably connected to the side surface of the fuselage, so that the arm can be selectively in a folded state or an unfolded state relative to the fuselage.

[0054] Furthermore, in the folded state and the unfolded state, the height of the free end of the arm relative to the bottom of the fuselage and the distance relative to the side surface of the fuselage are different.

[0055] Further, the distance between the free end of the arm and the side surface of the fuselage in the folded state is smaller than the distance between the free end of the arm and the side surface of the fuselage in the unfolded state.

[0056] Furthermore, a height of the free end of the arm compared to the bottom of the fuselage in the folded state is greater than a height of the free end of the arm compared to the bottom of the fuselage in the unfolded state.

[0057] Furthermore, the flight assembly further comprises a tripod, which is connected to the free end of the arm after assembly, wherein the tripod is used to protect the fuselage from impact during the landing of the unmanned aerial vehicle and to support the fuselage when the unmanned aerial vehicle lands on a supporting surface;

[0058] Wherein, in the folded state and the unfolded state, the height of the tripod relative to the bottom of the fuselage and the distance relative to the side surface of the fuselage are different.

[0059] Furthermore, the distance between the assembled tripod and the side surface of the fuselage in the folded state is smaller than the distance between the assembled tripod and the side surface of the fuselage in the unfolded state.

[0060] Furthermore, the height of the free end of the assembled tripod in the folded state compared to the bottom of the fuselage is greater than the height of the free end in the unfolded state compared to the bottom of the fuselage.

[0061] Furthermore, the assembled tripod protrudes from the bottom of the fuselage when the aircraft arm is located in the unfolded position.

[0062] Furthermore, the flight component also includes a power device for providing flight power, and the assembled power device is connected to the free end of the arm, wherein in the folded state and the unfolded state, the height of the power device compared to the bottom of the fuselage and the distance compared to the side surface of the fuselage are different.

[0063] Furthermore, the distance of the assembled power device from the side surface of the fuselage in the folded state is smaller than the distance of the assembled power device from the side surface of the fuselage in the unfolded state.

[0064] Furthermore, the height of the assembled power device in the folded state compared to the bottom of the fuselage is greater than the height of the power device in the unfolded state compared to the bottom of the fuselage.

[0065] Furthermore, the height of the assembled power device in the folded state compared to the bottom of the fuselage is smaller than the height of the power device in the unfolded state compared to the bottom of the fuselage.

[0066] Further, the arm includes a first arm, and the assembled first arm rotates around a first rotation axis relative to the side surface of the fuselage, wherein the first rotation axis is inclined at a first predetermined angle relative to the yaw axis of the unmanned aerial vehicle, and the first rotation axis is roughly parallel to a plane defined by the yaw axis and the roll axis of the unmanned aerial vehicle, so that when the first arm rotates from the folded state to the unfolded state, the free end of the first arm is lowered in height compared to the bottom of the fuselage.

[0067] Furthermore, the assembled first arm can be selectively maintained at a predetermined folded position and a predetermined unfolded position relative to the fuselage, and can be rotated between the folded position and the unfolded position, wherein when the first arm is located at the folded position, the free end of the first arm is close to the fuselage, and when the first arm is located at the unfolded position, the free end of the first arm is away from the fuselage.

[0068] Furthermore, the kit includes a plurality of the first arms, and the assembled plurality of the first arms are respectively connected to different side surfaces of the fuselage, or are connected in pairs to opposite ends of the same side surface of the fuselage, or are connected in pairs to opposite side surfaces of the fuselage.

[0069] Further, the arm includes a second arm, and the assembled second arm rotates around a second rotation axis relative to the side surface of the fuselage, wherein the second rotation axis is at a second predetermined inclination angle relative to the roll axis of the unmanned aerial vehicle, and the second rotation axis is substantially perpendicular to the yaw axis, so that when the second arm rotates from the folded state to enter the unfolded state, the second arm flips 180 degrees relative to the fuselage, so that the surface of the second arm facing the top of the fuselage turns to face the bottom of the fuselage.

[0070] Furthermore, the assembled second arm can be selectively maintained at a predetermined folded position and a predetermined unfolded position relative to the fuselage, and can be rotated between the folded position and the unfolded position, wherein when the second arm is located at the folded position, the free end of the second arm is in close contact with the fuselage, and when the second arm is located at the unfolded position, the free end of the second arm is away from the fuselage.

[0071] Furthermore, the kit includes a plurality of second arms, and the assembled plurality of second arms are respectively connected to different side surfaces of the fuselage, or are connected in pairs to opposite ends of the same side surface of the fuselage, or are connected in pairs to opposite side surfaces of the fuselage.

[0072] Furthermore, the flight assembly also includes a power device and a tripod, wherein the power device is used to provide flight power, and the tripod is used to protect the fuselage from impact during the landing of the unmanned aerial vehicle and to support the fuselage when the unmanned aerial vehicle lands on a supporting surface; the assembled power device and the tripod are respectively located on opposite sides of the free end of the arm, wherein the tripod protrudes from the bottom of the fuselage when the arm is in the deployed position.

[0073] Furthermore, the arm includes a first arm and a second arm, and the assembled first arm rotates around a first rotation axis on the same plane, so that the directions of the tripod and the power device connected to the first arm remain unchanged during the rotation of the first arm; the assembled second arm rotates around the second rotation axis along a conical surface, so that while the second arm rotates from the folded state to the unfolded state, the second arm flips 180 degrees compared to the fuselage, and the directions of the tripod and the power device connected to the second arm also flip 180 degrees following the second arm during the rotation of the second arm.

[0074] Furthermore, the power device includes a propulsion unit, and in the folded state, the first arm places the connected propulsion unit on the top of the fuselage, and the second arm places the connected propulsion unit on the bottom of the fuselage.

[0075] Furthermore, the assembled first arm and the second arm are respectively connected to opposite ends of the same side surface of the fuselage, and the first arm and the second arm are offset up and down, so that the first arm and the second arm can be buckled together in the folded state.

[0076] Furthermore, the fuselage includes a head located at one end of the roll axis of the unmanned aerial vehicle and a tail located at the other end of the roll axis, and the kit includes at least one pair of arms connected to the head of the fuselage or close to the head, and at least one pair of arms connected to the tail of the fuselage or close to the tail.

[0077] Furthermore, the kit also includes a rotating mechanism arranged on the fuselage, wherein the rotating mechanism divides the fuselage into two parts, and enables one part of the fuselage to rotate 180 degrees relative to the other part around a third rotating axis of the rotating mechanism, and enables a flying component connected to one part of the fuselage to rotate 180 degrees relative to a flying component connected to the other part of the fuselage, wherein the third rotating axis is roughly parallel to the roll axis of the unmanned aerial vehicle.

[0078] Furthermore, the flight component also includes a power device for providing flight power, and the power device at least includes a propulsion unit. The assembled power device is connected to the free end of the arm, and the arm connected to the two parts of the fuselage respectively places the corresponding propulsion unit on the top and bottom of the fuselage in the folded state.

[0079] Furthermore, the power device at least includes an actuator and a propulsion unit. The assembled propulsion unit is connected to the free end of the corresponding arm through the actuator. The actuator is used to drive the propulsion unit to rotate to provide lift for the unmanned aerial vehicle.

[0080] Furthermore, a receiving portion is provided on the fuselage, and the receiving portion is opposite to the actuator when it is located at a predetermined folding position, and is used to receive a partial structure of the actuator.

[0081] Furthermore, the power device includes a propulsion unit, and a rotation mechanism is provided near the free end of the arm, and the rotation mechanism is used to rotate the free end of the arm in the folded position so that the propulsion unit is placed on the side surface of the fuselage.

[0082] Furthermore, the propulsion unit is a propeller including at least two blades, and the blades of the propulsion unit can be folded together.

[0083] Furthermore, the kit also includes a communication antenna, and the assembled communication antenna is installed on the tripod.

[0084] Furthermore, the assembled tripod is at a non-orthogonal angle relative to the length direction of the connected machine arm.

[0085] Furthermore, the assembled tripod can be folded relative to the connected machine arm until it is attached to the connected machine arm.

[0086] Furthermore, the fuselage also includes a rotation limiting structure, and the assembled arm is connected to the rotation limiting structure, and the rotation limiting structure is used to limit the rotation angle of the arm.

[0087] Furthermore, the fuselage also includes a locking structure, and the assembled arm is connected to the locking structure, and the locking structure is used to enable the arm to remain in a predetermined unfolded position in the unfolded state, and to enable the arm to remain in a predetermined folded position in the folded state.

[0088] Furthermore, the fuselage also includes an elastic member, and the assembled arm is connected to the elastic member, and the elastic member is used to drive the arm to automatically retract to a predetermined folding position when the arm is folded to a first predetermined position relative to the fuselage.

[0089] Furthermore, the fuselage also includes an elastic member, and the assembled arm is connected to the elastic member, and the elastic member is used to drive the arm to automatically unfold to a predetermined unfolding position when the arm unfolds to a second predetermined position relative to the fuselage.

[0090] Furthermore, a first mounting portion is provided on the fuselage, and the assembled first machine arm is mounted on the first mounting portion.

[0091] Furthermore, the first mounting portion is protruding from the fuselage.

[0092] Furthermore, a guide groove is provided on the fuselage, and the assembled first machine arm is installed in the guide groove. When the first machine arm is located at the folded position, it is accommodated in the guide groove.

[0093] Furthermore, a second mounting portion is provided on the fuselage, and the assembled second machine arm is mounted on the second mounting portion.

[0094] Furthermore, the second mounting portion is protrudingly disposed on the fuselage.

[0095] A method for assembling an unmanned aerial vehicle, comprising:

[0096] Providing the fuselage of the unmanned aerial vehicle;

[0097] Providing a flight assembly for providing flight power; and

[0098] Assembling the flight assembly on the fuselage so that the assembled flight assembly can be movably connected to the fuselage and the flight assembly can be selectively in a folded state or an unfolded state relative to the fuselage;

[0099] Wherein, in the folded state and the unfolded state, the height of the flying component relative to the bottom of the fuselage and the distance relative to the side surface of the fuselage are different.

[0100] Furthermore, the flight assembly includes an arm, and the method for assembling the unmanned aerial vehicle further includes:

[0101] The machine arm is rotatably connected to the side surface of the fuselage, so that the machine arm can be selectively in a folded state or an unfolded state relative to the fuselage.

[0102] Furthermore, in the folded state and the unfolded state, the height of the free end of the arm relative to the bottom of the fuselage and the distance relative to the side surface of the fuselage are different.

[0103] Further, the distance between the free end of the arm and the side surface of the fuselage in the folded state is smaller than the distance between the free end of the arm and the side surface of the fuselage in the unfolded state.

[0104] Furthermore, a height of the free end of the arm compared to the bottom of the fuselage in the folded state is greater than a height of the free end of the arm compared to the bottom of the fuselage in the unfolded state.

[0105] Furthermore, the flight assembly further comprises a tripod, and the method for assembling the unmanned aerial vehicle further comprises:

[0106] Connecting the tripod to the free end of the arm, wherein the tripod is used to protect the fuselage from impact during the landing of the unmanned aerial vehicle and to support the fuselage when the unmanned aerial vehicle lands on a supporting surface;

[0107] Wherein, in the folded state and the unfolded state, the height of the tripod relative to the bottom of the fuselage and the distance relative to the side surface of the fuselage are different.

[0108] Furthermore, the distance between the assembled tripod and the side surface of the fuselage in the folded state is smaller than the distance between the assembled tripod and the side surface of the fuselage in the unfolded state.

[0109] Furthermore, the height of the free end of the assembled tripod in the folded state compared to the bottom of the fuselage is greater than the height of the free end in the unfolded state compared to the bottom of the fuselage.

[0110] Furthermore, the assembled tripod protrudes from the bottom of the fuselage when the aircraft arm is located in the unfolded position.

[0111] Furthermore, the flight assembly further comprises a power device for providing flight power, and the method for assembling the unmanned aerial vehicle further comprises:

[0112] The power device is connected to the free end of the arm, wherein the height of the power device relative to the bottom of the fuselage and the distance relative to the side surface of the fuselage are different in the folded state and the unfolded state.

[0113] Furthermore, the distance of the assembled power device from the side surface of the fuselage in the folded state is smaller than the distance of the assembled power device from the side surface of the fuselage in the unfolded state.

[0114] Furthermore, the height of the assembled power device in the folded state compared to the bottom of the fuselage is greater than the height of the power device in the unfolded state compared to the bottom of the fuselage.

[0115] Furthermore, the height of the assembled power device in the folded state compared to the bottom of the fuselage is smaller than the height of the power device in the unfolded state compared to the bottom of the fuselage.

[0116] Further, the arm includes a first arm, and the assembled first arm rotates around a first rotation axis relative to the side surface of the fuselage, wherein the first rotation axis is inclined at a first predetermined angle relative to the yaw axis of the unmanned aerial vehicle, and the first rotation axis is roughly parallel to a plane defined by the yaw axis and the roll axis of the unmanned aerial vehicle, so that when the first arm rotates from the folded state to the unfolded state, the free end of the first arm is lowered in height compared to the bottom of the fuselage.

[0117] Furthermore, the assembled first arm can be selectively maintained at a predetermined folded position and a predetermined unfolded position relative to the fuselage, and can be rotated between the folded position and the unfolded position, wherein when the first arm is located at the folded position, the free end of the first arm is close to the fuselage, and when the first arm is located at the unfolded position, the free end of the first arm is away from the fuselage.

[0118] Furthermore, the method for assembling the unmanned aerial vehicle also includes:

[0119] Providing a plurality of the first machine arms;

[0120] Connecting the plurality of first arms to different side surfaces of the fuselage respectively; or

[0121] Connecting a plurality of the first arms in pairs to opposite ends of the same side surface of the fuselage; or,

[0122] The first arms are connected in pairs to opposite side surfaces of the fuselage.

[0123] Further, the arm includes a second arm, and the assembled second arm rotates around a second rotation axis relative to the side surface of the fuselage, wherein the second rotation axis is at a second predetermined inclination angle relative to the roll axis of the unmanned aerial vehicle, and the second rotation axis is substantially perpendicular to the yaw axis, so that when the second arm rotates from the folded state to enter the unfolded state, the second arm flips 180 degrees relative to the fuselage, so that the surface of the second arm facing the top of the fuselage turns to face the bottom of the fuselage.

[0124] Furthermore, the assembled second arm can be selectively maintained at a predetermined folded position and a predetermined unfolded position relative to the fuselage, and can be rotated between the folded position and the unfolded position, wherein when the second arm is located at the folded position, the free end of the second arm is in close contact with the fuselage, and when the second arm is located at the unfolded position, the free end of the second arm is away from the fuselage.

[0125] Furthermore, the method for assembling the unmanned aerial vehicle also includes:

[0126] Providing a plurality of the second machine arms;

[0127] Connecting the plurality of second arms to different side surfaces of the fuselage respectively; or

[0128] Connecting a plurality of the second arms in pairs to opposite ends of the same side surface of the fuselage; or

[0129] A plurality of the second machine arms are connected to opposite side surfaces of the machine body in pairs.

[0130] Furthermore, the flight assembly further includes a power device and a tripod, wherein the power device is used to provide flight power, and the tripod is used to protect the fuselage from impact during the landing process of the unmanned aerial vehicle and to support the fuselage when the unmanned aerial vehicle lands on a supporting surface; the method for assembling the unmanned aerial vehicle further includes:

[0131] The power device and the tripod are respectively connected to opposite sides of the free end of the arm, wherein the tripod protrudes from the bottom of the fuselage when the arm is located in the unfolded position.

[0132] Furthermore, the arm includes a first arm and a second arm, and the assembled first arm rotates around a first rotation axis on the same plane, so that the directions of the tripod and the power device connected to the first arm remain unchanged during the rotation of the first arm; the assembled second arm rotates around the second rotation axis along a conical surface, so that while the second arm rotates from the folded state to the unfolded state, the second arm flips 180 degrees compared to the fuselage, and the directions of the tripod and the power device connected to the second arm also flip 180 degrees following the second arm during the rotation of the second arm.

[0133] Furthermore, the power device includes a propulsion unit, and in the folded state, the first arm places the connected propulsion unit on the top of the fuselage, and the second arm places the connected propulsion unit on the bottom of the fuselage.

[0134] Furthermore, the method for assembling the unmanned aerial vehicle also includes:

[0135] The first arm and the second arm are connected to opposite ends of the same side surface of the fuselage, and the first arm and the second arm are staggered up and down, so that the first arm and the second arm can be buckled together in the folded state.

[0136] Further, the fuselage includes a head portion located at one end of the roll axis of the unmanned aerial vehicle and a tail portion located at the other end of the roll axis, and the method for assembling the unmanned aerial vehicle also includes:

[0137] Providing a plurality of the machine arms;

[0138] connecting at least one pair of the arms to or near the head of the fuselage; and

[0139] At least one pair of the arms is connected to the tail portion of the fuselage or near the tail portion.

[0140] Furthermore, the method for assembling the unmanned aerial vehicle also includes:

[0141] A rotation mechanism is provided on the fuselage, wherein the rotation mechanism divides the fuselage into two parts, and enables one part of the fuselage to rotate relative to the other part around a third rotation axis of the rotation mechanism, and enables a flying component connected to one part of the fuselage to rotate relative to a flying component connected to the other part of the fuselage, wherein the third rotation axis is roughly parallel to the roll axis of the unmanned aerial vehicle.

[0142] Furthermore, the flight assembly further comprises a power device for providing flight power, the power device at least comprising a propulsion unit, and the method for assembling the unmanned aerial vehicle further comprises:

[0143] The power device is connected to the free end of the arm, and the arm connected to the two parts of the fuselage places the corresponding propulsion unit on the top and bottom of the fuselage respectively in the folded state.

[0144] Furthermore, the power device comprises at least an actuator and a propulsion unit, and the method for assembling the unmanned aerial vehicle further comprises:

[0145] The propulsion unit is connected to the free end of the corresponding machine arm through the actuator, wherein the actuator is used to drive the propulsion unit to rotate so as to provide lift for the unmanned aerial vehicle.

[0146] Furthermore, a receiving portion is provided on the fuselage, and the receiving portion is opposite to the actuator when it is located at a predetermined folding position, and is used to receive a partial structure of the actuator.

[0147] Furthermore, the power device includes a propulsion unit, a rotating mechanism is provided near the free end of the arm, and the method for assembling the unmanned aerial vehicle also includes:

[0148] In the folded position, the free end of the arm is rotated by the rotation mechanism so that the propulsion unit rests on the side surface of the fuselage.

[0149] Furthermore, the propulsion unit is a propeller including at least two blades, and the blades of the propulsion unit can be folded together.

[0150] Furthermore, the method for assembling the unmanned aerial vehicle also includes:

[0151] providing a communications antenna; and

[0152] The communication antenna is installed on the tripod.

[0153] Furthermore, the assembled tripod is at a non-orthogonal angle relative to the length direction of the connected machine arm.

[0154] Furthermore, the assembled tripod can be folded relative to the connected machine arm until it is attached to the connected machine arm.

[0155] Furthermore, the method for assembling the unmanned aerial vehicle also includes:

[0156] Providing a rotation limiting structure mounted on the fuselage; and

[0157] The rotation limiting structure is connected to the machine arm to limit the rotation angle of the machine arm.

[0158] Furthermore, the method for assembling the unmanned aerial vehicle also includes:

[0159] Providing a locking structure mounted on the fuselage; and

[0160] The locking structure is connected to the machine arm so that the machine arm can be kept at a predetermined unfolded position in the unfolded state, and the machine arm can be kept at a predetermined folded position in the folded state.

[0161] Furthermore, the method for assembling the unmanned aerial vehicle also includes:

[0162] an elastic member mounted on the fuselage; and

[0163] The elastic member is connected to the machine arm so as to drive the machine arm to automatically retract to a predetermined folding position when the machine arm is folded to a first predetermined position relative to the fuselage.

[0164] Furthermore, the method for assembling the unmanned aerial vehicle also includes:

[0165] providing an elastic member mounted on the fuselage; and

[0166] The elastic member is connected to the machine arm so as to drive the machine arm to automatically unfold to a predetermined unfolding position when the machine arm unfolds to a second predetermined position relative to the fuselage.

[0167] Furthermore, the method for assembling the unmanned aerial vehicle also includes:

[0168] providing a first mounting portion disposed on the fuselage; and

[0169] The first machine arm is mounted on the first mounting portion.

[0170] Furthermore, the first mounting portion is protruding from the fuselage.

[0171] Furthermore, the method for assembling the unmanned aerial vehicle also includes:

[0172] Providing a guide groove formed on the fuselage; and

[0173] The first machine arm is installed in the guide groove so that the first machine arm is accommodated in the guide groove when the first machine arm is located in the folded position.

[0174] Furthermore, the method for assembling the unmanned aerial vehicle also includes:

[0175] providing a second mounting portion disposed on the fuselage; and

[0176] The second machine arm is mounted on the second mounting portion.

[0177] Furthermore, the second mounting portion is protrudingly disposed on the fuselage.

[0178] A method for operating an unmanned aerial vehicle, comprising:

[0179] Providing the unmanned aerial vehicle described in the above embodiments;

[0180] The UAV is operated so that the flight assembly of the UAV has a compact shape compared to the fuselage when in a folded state, and has an expanded shape compared to the fuselage when in an expanded state.

[0181] The unmanned aerial vehicle in the embodiment of the present invention can change the height of the arm or the flight component compared to the bottom of the fuselage and the distance compared to the side surface of the fuselage in the folded state, which is beneficial to reduce the volume of the fuselage in the folded state and make the structure of the folded unmanned aerial vehicle more compact for easy storage and carrying. BRIEF DESCRIPTION OF THE DRAWINGS

[0182] Figure 1 It is a three-dimensional schematic diagram of a foldable unmanned aerial vehicle according to a first embodiment of the present invention, wherein the unmanned aerial vehicle is in an unfolded state.

[0183] Figure 2 yes Figure 1 Schematic diagram of another perspective of the unmanned aerial vehicle.

[0184] Figure 3 yes Figure 2 Schematic diagram of a partial structure of an unmanned aerial vehicle in a folded state.

[0185] Figure 4 yes Figure 2 Schematic diagram of the unmanned aerial vehicle in a folded state.

[0186] Figure 5 yes Figure 4 Schematic diagram of the reverse perspective of the unmanned aerial vehicle.

[0187] Figure 6 yes Figure 1 Schematic diagram of the side surface of the unmanned aerial vehicle in a folded state.

[0188] Figure 7 yes Figure 1 Schematic diagram of the side surface of the unmanned aerial vehicle in the unfolded state.

[0189] Figure 8 It is a schematic diagram of an unmanned aerial vehicle in a folded state according to the second embodiment of the present invention.

[0190] Fig. 9 It is a schematic diagram of an unmanned aerial vehicle in a folded state according to the third embodiment of the present invention.

[0191] Fig.10 4 is a schematic diagram of an unmanned aerial vehicle in an unfolded state according to a fourth embodiment of the present invention.

[0192] Fig.11 yes Fig.10 Schematic diagram of the side surface of the unmanned aerial vehicle.

[0193] Fig.12 yes Fig.11 Schematic diagram of the two parts of the unmanned aerial vehicle after rotating around the rotating mechanism.

[0194] Fig.13 yes Figure 2 Another structural schematic diagram of the fuselage of an unmanned aerial vehicle.

[0195] Fig.14 yes Fig.13Schematic diagram of another perspective of the fuselage of the unmanned aerial vehicle.

[0196] Fig.15 It is a structural module diagram of an unmanned aerial vehicle according to an embodiment of the present invention.

[0197] Main component symbols

[0198] Unmanned aerial vehicle 100, 200, 300, 400

[0199] Body 20, 21, 22, 23

[0200] Head 20-1

[0201] Tail 20-2

[0202] Side surfaces 20-3, 20-4, 21-1, 22-1

[0203] Top 20-5, 21-2, 22-2,

[0204] Bottom 20-6

[0205] First mounting portion 24

[0206] Second mounting portion 25

[0207] Storage Section 26, 261

[0208] Flight Kit 30

[0209] Arm 31

[0210] First Arm 31-1

[0211] First rotation axis 311-1

[0212] Second arm 31-2

[0213] Second rotation axis 311-2

[0214] Tripod 32

[0215] Powerplant 33

[0216] Propulsion Unit 331

[0217] Actuator 332

[0218] Rotating mechanism 61

[0219] The third rotation axis 611

[0220] Rack 71

[0221] Powertrain 72

[0222] ESC 721

[0223] Battery 722

[0224] Flight Control System 73

[0225] Flight Controller 731

[0226] Sensor module 732

[0227] The following specific implementation manner will further illustrate the present invention in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0228] It should be noted that when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may be a component centered thereon. When a component is referred to as being "connected to" another component, it may be directly connected to the other component or there may be a component centered thereon. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0229] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0230] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0231] An embodiment of the present invention provides a frame of an unmanned aerial vehicle, comprising a fuselage and an arm. The arm is rotatably connected to the fuselage, so that the arm can be selectively in a folded state or an unfolded state relative to the fuselage. In the folded state and the unfolded state, the height of the free end of the arm relative to the bottom of the fuselage and the distance relative to the side surface of the fuselage are different.

[0232] An embodiment of the present invention further provides an unmanned aerial vehicle, comprising the frame described in the above embodiment, the frame comprising a fuselage and an arm; and a power device carried on the free end of the arm, the power device being used to provide flight power.

[0233] An embodiment of the present invention further provides an unmanned aerial vehicle, comprising a fuselage and a flight assembly for providing flight power. The flight assembly can be movably connected to the fuselage, so that the flight assembly can be selectively in a folded state or an unfolded state relative to the fuselage. In the folded state and the unfolded state, the height of the flight assembly relative to the bottom of the fuselage and the distance relative to the side surface of the fuselage are different.

[0234] An embodiment of the present invention also provides a kit for assembling an unmanned aerial vehicle, the kit comprising a fuselage of the unmanned aerial vehicle and a flight component for providing flight power. The flight component is assembled on the fuselage according to the assembly operation instructions, so that the assembled flight component can be movably connected to the fuselage, and the flight component can be selectively in a folded state or an unfolded state relative to the fuselage. In the folded state and the unfolded state, the height of the flight component relative to the bottom of the fuselage and the distance relative to the side surface of the fuselage are different.

[0235] The embodiment of the present invention also provides an assembly method of an unmanned aerial vehicle, comprising: providing a fuselage of the unmanned aerial vehicle, providing a flight component for providing flight power, and assembling the flight component on the fuselage, so that the assembled flight component can be movably connected to the fuselage, and the flight component can be selectively in a folded state or an unfolded state relative to the fuselage. In the folded state and the unfolded state, the height of the flight component relative to the bottom of the fuselage and the distance relative to the side surface of the fuselage are different.

[0236] An embodiment of the present invention also provides a method for operating an unmanned aerial vehicle, comprising: providing the unmanned aerial vehicle described in the above embodiments, and operating the unmanned aerial vehicle so that the flight component of the unmanned aerial vehicle has a compact shape compared to the fuselage when in a folded state, and has an unfolded shape compared to the fuselage when in an unfolded state.

[0237] Specifically, see Figure 1 , is a three-dimensional schematic diagram of a foldable unmanned aerial vehicle 100 according to the first embodiment of the present invention. In this embodiment, the unmanned aerial vehicle 100 is a rotary wing unmanned aerial vehicle, which is used to carry a camera, a video camera or other shooting device (not shown) to perform aerial photography. It can be understood that the unmanned aerial vehicle 100 can also be used to perform map surveying and mapping, disaster investigation and rescue, aerial monitoring, power transmission line inspection and other tasks. It can also be understood that in other embodiments, the unmanned aerial vehicle 100 can also be a fixed-wing unmanned aerial vehicle.

[0238] In this embodiment, the UAV 100 at least includes a fuselage 20 and a flight assembly 30 for providing flight power. The fuselage 20 may be in various shapes, such as a cuboid, a sphere, an ellipsoid, and the like.

[0239] like Figure 1 As shown, the origin O is used to mark the center of gravity of the UAV 100, and the roll axis X (along the X-axis direction), pitch axis Y (along the Y-axis direction), and yaw axis Z (along the Z-axis direction) of the UAV 100 can be defined respectively according to the origin O. The UAV 100 can be configured to rotate relative to one or more axes of the roll axis X, pitch axis Y, and yaw axis Z during flight.

[0240] In this embodiment, the fuselage 20 may include a head 20-1, a tail 20-2, side surfaces 20-3 and 20-4, a top 20-5, a bottom 20-6 (such as Figure 5 ). The head 20-1 may be located at one end of the fuselage 20 along the roll axis X direction, and the tail 20-2 may be located at the other end of the fuselage 20 along the roll axis X direction. The side surfaces 20-3 and 20-4 may be located at both ends of the fuselage 20 along the pitch axis Y direction. The top 20-5 may be located at one end of the fuselage 20 along the yaw axis Z direction, and the bottom 20-6 may be located at the other end of the fuselage 20 along the yaw axis Z direction.

[0241] Furthermore, the top 20-5 refers to a surface facing the sky when the unmanned aerial vehicle 100 is in a normal flight state, the bottom 20-6 refers to a surface facing the ground when the unmanned aerial vehicle 100 lands normally, and the side surfaces 20-3 and 20-4 refer to surfaces connecting the top 20-5 and the bottom 20-6.

[0242] Please also read Figure 1-5 In this embodiment, the flight assembly 30 can be movably connected to the fuselage 20, so that the flight assembly 30 can be selectively in a folded state or an unfolded state relative to the fuselage 20. Specifically, when the unmanned aerial vehicle 100 is in an idle non-flying state, the flight assembly 30 can rotate relative to the fuselage 20 and be folded around the fuselage 20 to be in the folded state, so that the space occupied by the flight assembly 30 is small, so that the structure of the unmanned aerial vehicle 100 in the idle non-flying state is relatively compact, which is convenient for storage and carrying. When the unmanned aerial vehicle 100 is in a flying state, the flight assembly 30 can be unfolded relative to the fuselage 20 to provide the unmanned aerial vehicle 100 with flight power.

[0243] Wherein, in the folded state and the unfolded state, the distance between the flying assembly 30 and the side surface 20-3 or 20-4 of the fuselage 20 is different. In this embodiment, the distance between the flying assembly 30 and the side surface of the fuselage in the folded state is smaller than the distance between the flying assembly 30 and the side surface of the fuselage in the unfolded state.

[0244] In this embodiment, the flight assembly 30 includes an arm 31, and the arm 31 is rotatably connected to the side surfaces 20-3 and 20-4 of the fuselage 20, so that the arm 31 can be selectively in a folded state or an unfolded state relative to the fuselage 20. The number of the arms 31 can be multiple, for example, three, four, five, six or more. In this embodiment, the number of the arms 31 is four.

[0245] In this embodiment, in the folded state and the unfolded state, the distance between the free end of the arm 31 and the side surface 20 - 3 or 20 - 4 of the body 20 is different.

[0246] Specifically, in this embodiment, the arm 31 can be selectively maintained at a predetermined folded position (such as Figure 4-5 as shown) and the predetermined deployment position (as shown Figure 1-2 The arm 31 is in the position shown in the figure, and can rotate between the folded position and the unfolded position. When the arm 31 is in the folded position, the free end of the arm 31 is in close contact with the fuselage 20, and when the arm 31 is in the unfolded position, the free end of the arm 31 is away from the fuselage 20. That is to say, the distance between the free end of the arm 31 and the side surface 20-3 or 20-4 of the fuselage 20 in the folded state is smaller than the distance between the free end of the arm 31 and the side surface 20-3 or 20-4 of the fuselage 20 in the unfolded state.

[0247] Optionally, the body 20 may further include a rotation limiting structure (not shown), which is used to connect with the arm 31 and limit the rotation angle of the arm 31. The rotation limiting structure may be a stopper or an elastic member, such as a spring or a spring that can provide a preload and / or a rebound force.

[0248] Optionally, the body 20 may further include a locking structure (not shown), which is used to connect with the arm 31 and keep the arm 31 in the predetermined unfolded position in the unfolded state, and keep the arm 31 in the predetermined folded position in the folded state. The locking structure may be a buckle, a hook, etc.

[0249] Optionally, the fuselage 20 may further include an elastic member (not shown), which is used to connect to the arm 31 and drive the arm 31 to automatically retract to the predetermined folded position when the arm 31 is folded to a first predetermined position relative to the fuselage 20, and / or drive the arm 31 to automatically unfold to the predetermined unfolded position when the arm 31 is unfolded to a second predetermined position relative to the fuselage 20.

[0250] Please refer again Figure 1 In this embodiment, the flight assembly 30 also includes a tripod 32 connected to the free end of the arm 31, and the tripod 32 is used to protect the fuselage 20 from impact during the landing process of the unmanned aerial vehicle 100 and to support the fuselage 20 when the unmanned aerial vehicle 100 lands on a supporting surface (not shown), such as the ground.

[0251] In this embodiment, the flight assembly 30 further includes a power device 33 connected to the free end of the arm 31 for providing flight power. The power device 33 may include a propulsion unit 331 and an actuator 332. The propulsion unit 331 is connected to the free end of the corresponding arm 31 through the actuator 332. The propulsion unit 331 can move the unmanned aerial vehicle 100 and provide the unmanned aerial vehicle 100 with lifting power so that the unmanned aerial vehicle 100 changes its altitude. The propulsion unit 331 may be a rotor for rotating to provide lifting power to the unmanned aerial vehicle 100. In this embodiment, the propulsion unit 331 adopts a propeller and includes at least two blades. The propeller blades can be folded together, so that the storage space of the propeller blades can be shortened, which is conducive to reducing the volume of the fuselage 20 of the unmanned aerial vehicle 100 in the length direction in the folded state.

[0252] The actuator 332 may be a motor, such as an AC motor or a DC motor. The actuator 332 is used to respond to a command signal from a flight controller of the UAV 100 to drive the propulsion unit 331 to rotate, thereby providing lift for the UAV 100. The command signal includes an output to the actuator 332.

[0253] In this embodiment, since the tripod 32 and the power device 33 are both connected to the free end of the arm 31, the distances between the tripod 32 and the power device 33 and the side surface 20-3 or 20-4 of the fuselage 20 are also different in the folded state and the unfolded state.

[0254] Specifically, in this embodiment, the distance between the tripod 32 and the power device 33 and the side surface 20-3 or 20-4 of the fuselage 20 in the folded state is smaller than the distance between the tripod 32 and the power device 33 and the side surface 20-3 or 20-4 of the fuselage 20 in the unfolded state.

[0255] In this embodiment, the tripod 32 and the power device 33 connected to the same arm 31 are respectively located on opposite sides of the free end of the arm 31, and the tripod 32 protrudes from the bottom 20-6 of the fuselage 20 when the arm 31 is in the unfolded position.

[0256] Please also read Figure 6-7 In the present embodiment, in the folded state and the unfolded state, the height of the flying assembly 30 relative to the bottom 20 - 6 of the fuselage 20 is also different.

[0257] Specifically, in the folded state and the unfolded state, the heights of the tripod 32 and the power device 33 relative to the bottom 20 - 6 of the fuselage 20 are different.

[0258] In this embodiment, the arm 31 includes a first arm 31 - 1 , wherein in the folded state and the unfolded state, the free end of the first arm 31 - 1 is at different heights compared to the bottom 20 - 6 of the body 20 .

[0259] Specifically, the first arm 31-1 can rotate around the first rotation axis 311-1 relative to the side surface 20-3 or 20-4 of the fuselage 20. The first rotation axis 311-1 is inclined at a first predetermined angle α relative to the yaw axis Z of the UAV 100, and the first rotation axis 311-1 is substantially parallel to a plane defined by the yaw axis Z and the roll axis X of the UAV 100.

[0260] In this embodiment, due to the inclined setting of the first rotation axis 311-1 and the rotation of the first arm 31-1 around the first rotation axis 311-1 on the same plane, when the first arm 31-1 rotates from the folded state to the unfolded state, the height of the free end of the first arm 31-1 is lowered compared to the bottom 20-6 of the body 20. That is, the height of the free end of the first arm 31-1 compared to the bottom 20-6 of the body 20 in the folded state is greater than the height of the free end of the first arm 31-1 compared to the bottom 20-6 of the body 20 in the unfolded state.

[0261] In this embodiment, the first predetermined inclination angle α is 2-3 degrees. It can be understood that the first predetermined inclination angle α can be adjusted according to the actual situation, so as to adjust the height range of the free end of the first arm 31-1 relative to the bottom 20-6 of the fuselage 20.

[0262] In this embodiment, during the rotation of the first arm 31-1, the orientations of the tripod 32 and the power device 33 connected to the first arm 31-1 remain unchanged. In this embodiment, the tripod 32 connected to the first arm 31-1 always faces the bottom 20-6 of the fuselage 20, and the power device 33 connected to the first arm 31-1 always faces the top 20-5 of the fuselage 20.

[0263] In this embodiment, due to the inclined setting of the first rotation shaft 311-1, the length by which the free end of the tripod 32 connected to the first arm 31-1 protrudes from the bottom 20-6 of the fuselage 20 in the folded state is H1, and the length by which it protrudes from the bottom 20-6 of the fuselage 20 in the unfolded state is H2, where H1 < H2. Therefore, the height (-H1) of the free end of the tripod 32 connected to the first arm 31-1 relative to the bottom 20-6 of the fuselage 20 in the folded state is greater than the height (-H2) in the unfolded state.

[0264] In this embodiment, the tripod 32 protrudes from the bottom 20-6 of the fuselage 20 when the first arm 31-1 is in the unfolded position, that is, the length H2 is a positive number. The tripod 32 also protrudes from the bottom 20-6 of the fuselage 20 when the first arm 31-1 is in the folded position, that is, the length H1 is also a positive number.

[0265] It can be understood that in other embodiments, the first predetermined inclination angle of the rotation shaft of the first arm can be adjusted according to the actual situation, or the length of the tripod 32 can be adjusted, so that the tripod 32 does not protrude from the bottom 20-6 of the fuselage 20 when the first arm 31-1 is in the folded position, that is, the length H1 is zero or a negative number.

[0266] The unmanned aerial vehicle 100 of this embodiment adjusts the height of the connected tripod 32 by inclinedly setting the first rotation shaft 311-1 of the first arm 31-1 and driving the connected tripod 32 to rotate through the first arm 31-1, so that there is a height difference between the folded state and the unfolded state of the tripod 32 connected to the first arm 31-1, thereby changing the length by which the tripod 32 protrudes from the bottom 20-6 of the fuselage 20.

[0267] Since the length of the tripod 32 on the first arm 31-1 protruding from the bottom 20-6 of the fuselage 20 is reduced or disappears in the folded state, it is beneficial to reduce the volume of the fuselage 20 of the unmanned aerial vehicle 100 in the height direction in the folded state, making the structure of the folded unmanned aerial vehicle 100 more compact. In addition, there is no need to add a rotating mechanism at the free end of the first arm 31-1 to fold the corresponding tripod 32, and the structure is relatively simple.

[0268] In this embodiment, the height of the power device 33 connected to the first arm 31-1 relative to the bottom 20-6 of the fuselage 20 in the folded state is greater than the height relative to the bottom 20-6 of the fuselage 20 in the unfolded state. Figure 6 As shown, in this embodiment, the first arm 31 - 1 places the propulsion unit 331 of the connected power device 33 on the top 20 - 5 of the fuselage 20 in the folded state.

[0269] In this embodiment, the arm 31 further includes a second arm 31-2. Figure 2 As shown, the second arm 31-2 can rotate around the second rotation axis 311-2 relative to the side surface 20-3 or 20-4 of the fuselage 20. The second rotation axis 311-2 is inclined at a second predetermined angle β relative to the roll axis X of the unmanned aerial vehicle 100, and the second rotation axis 311-2 is substantially perpendicular to the yaw axis Z of the unmanned aerial vehicle 100, so that the second arm 31-2 rotates around the second rotation axis 311-2 along a conical surface.

[0270] In this embodiment, since the second arm 31-2 rotates along the conical surface, the second arm 31-2 rotates from the folded state to enter the unfolded state, and at the same time, the second arm 31-2 flips 180 degrees relative to the fuselage 20, so that the surface of the second arm 31-2 facing the top 20-5 of the fuselage 20 turns to face the bottom 20-6 of the fuselage 20.

[0271] In this embodiment, the orientation of the tripod 32 connected to the second arm 31-2 also follows the second arm 31-2 to turn 180 degrees during the rotation of the second arm 31-2, that is, the tripod 32 connected to the second arm 31-2 faces the top 20-5 of the fuselage 20 in the folded state, and faces the bottom 20-6 of the fuselage 20 in the unfolded state. Therefore, the height of the free end of the tripod 32 connected to the second arm 31-2 compared to the bottom 20-6 of the fuselage 20 in the folded state is greater than the height of the free end of the tripod 32 compared to the bottom 20-6 of the fuselage 20 in the unfolded state.

[0272] The unmanned aerial vehicle 100 of this embodiment rotates along the conical surface through the second arm 31-2, and drives the connected tripod 32 to flip through the second arm 31-2 to adjust the height of the connected tripod 32, so that the tripod 32 connected to the second arm 31-2 protrudes from the bottom 20-6 of the fuselage 20 in the unfolded state, and faces the top 20-5 of the fuselage 20 in the folded state, and does not protrude from the top 20-5 of the fuselage 20.

[0273] Since the tripod 32 on the second arm 31-2 faces the top 20-5 of the fuselage 20 and does not protrude from the top 20-5 of the fuselage 20 in the folded state, it is beneficial to reduce the volume of the fuselage 20 of the unmanned aerial vehicle 100 in the height direction in the folded state, making the structure of the folded unmanned aerial vehicle 100 more compact. In addition, there is no need to add a rotating mechanism at the free end of the second arm 31-2 to fold the corresponding tripod 32, and the structure is relatively simple.

[0274] In this embodiment, the direction of the power device 33 connected to the second arm 31-2 also follows the second arm 31-2 to turn 180 degrees during the rotation of the second arm 31-2, that is, the power device 33 connected to the second arm 31-2 faces the top 20-5 of the fuselage 20 in the folded state, and faces the bottom 20-6 of the fuselage 20 in the unfolded state. Therefore, in this embodiment, the height of the power device 33 connected to the second arm 31-2 compared to the bottom 20-6 of the fuselage 20 in the folded state is less than the height of the power device 33 connected to the second arm 31-2 compared to the bottom 20-6 of the fuselage 20 in the unfolded state. Figure 6 As shown, in this embodiment, when the second arm 31 - 2 is in the folded state, the propulsion unit 331 of the connected power device 33 is placed on the bottom 20 - 6 of the fuselage 20 .

[0275] In the embodiment of the present invention, the arm 31 places the corresponding propulsion unit 331 on the top 20-5 or the bottom 20-6 of the fuselage 23 when in the folded state. In other embodiments, a rotation mechanism (not shown) may be provided near the free end of the arm 31, and the rotation mechanism is used to rotate the free end of the arm 31 in the folded position so that the propulsion unit 331 is placed on the side surface 20-3 or 20-4 of the fuselage 20.

[0276] In the embodiment of the present invention, the UAV 100 rotates relative to the fuselage 20 through the arm 31, so as to shorten the length of the connected tripod 32 protruding from the fuselage 20 in the folded state. In other embodiments, the tripod 32 can be folded relative to the connected arm 31 until it is attached to the connected arm 31, so as to reduce the volume of the UAV 100 in the folded state, making the structure of the UAV 100 more compact.

[0277] In the embodiment of the present invention, the unmanned aerial vehicle 100 includes at least one pair of the first arms 31-1 and at least one pair of the second arms 31-2. In this embodiment, each pair of the first arms 31-1 is relatively connected to the two side surfaces 20-5 and 20-6 of the fuselage 20, and each pair of the second arms 31-2 is relatively connected to the two side surfaces 20-5 and 20-6 of the fuselage 20. The first arms 31-1 and the second arms 31-2 are respectively connected to the opposite ends of the same side surface of the fuselage 20, and the first arms 31-1 and the second arms 31-2 are staggered up and down, so that the first arms 31-1 and the second arms 31-2 can be interlocked with each other in the folded state.

[0278] Optionally, in other embodiments, the UAV 100 may include a plurality of the first arms 31 - 1 , for example, the number of the first arms 31 - 1 may be four, six, eight or other numbers. Figure 8 As shown, the plurality of first arms 31-1 of the unmanned aerial vehicle 200 are respectively connected to different side surfaces 21-1 of the fuselage 21. The first arms 31-1 place the propulsion unit 331 of the connected power device 33 on the top 21-2 of the fuselage 20 in the folded state.

[0279] Or, for example Fig. 9 As shown, the plurality of first arms 31-1 of the unmanned aerial vehicle 300 are respectively connected to opposite ends of the same side surface 22-1 of the fuselage 22 in pairs, and are connected to opposite side surfaces 22-1 of the fuselage 22 in pairs. In the folded state, the first arms 31-1 place the propulsion unit 331 of the power device 33 connected thereto on the top 22-2 of the fuselage 22. Furthermore, the length of the fuselage 22 is at least not less than the sum of the lengths of the two first arms 31-1, so that the propulsion units 331 connected to the two first arms 31-1 can be placed side by side on the top 22-2 of the fuselage 22.

[0280] It can be understood that, in other embodiments, the unmanned aerial vehicle 100 may also include multiple second arms 31-2. For example, multiple second arms 31-2 may be respectively connected to different side surfaces of the fuselage 20, or, they may be connected in pairs to opposite ends of the same side surface of the fuselage 20, or, they may be connected in pairs to opposite side surfaces of the fuselage 20.

[0281] Optionally, in other embodiments, for example Figure 10-11 As shown, the UAV 400 further includes a rotation mechanism 61 disposed on the fuselage 23, the rotation mechanism 61 divides the fuselage 23 into two parts, and enables one part of the fuselage 23 to rotate 180 degrees relative to the other part around a third rotation axis 611 of the rotation mechanism 61. The third rotation axis 611 is substantially parallel to the roll axis X of the UAV 400.

[0282] like Fig.12 As shown, when one part of the fuselage 23 rotates 180 degrees relative to the other part around the third rotation axis 611 of the rotation mechanism 61, the flying assembly 30 connected to one part of the fuselage 23 rotates 180 degrees relative to the flying assembly 30 connected to the other part of the fuselage 23. That is, the flying assemblies 30 on the two arms 31 connected to the same side surface 20-3 or 20-4 are oriented in opposite directions. Among them, the arms 31 connected to the two parts of the fuselage 23, such as the first arm 31-1, respectively place the corresponding propulsion units 331 on the top 23-2 and the bottom 23-1 of the fuselage 23 in the folded state. It can be understood that the arm 31 can also be the second arm 31-2.

[0283] The length of the fuselage 23 may be substantially equal to the length of one of the arms 31 , so as to shorten the length of the fuselage 23 , thereby facilitating reducing the volume of the fuselage 23 of the unmanned aerial vehicle 400 in the length direction in the folded state.

[0284] Please refer again Figure 1 In the embodiment of the present invention, the fuselage 20 is further provided with a first mounting portion 24, and the first arm 31-1 is mounted on the first mounting portion 24. The first mounting portion 24 is protrudingly provided on the fuselage 20. In other embodiments, the fuselage 20 may further be provided with a guide groove (not shown), the first arm 31-1 is mounted in the guide groove, and the first arm 31-1 is accommodated in the guide groove when it is in the folded position.

[0285] In the embodiment of the present invention, the body 20 is further provided with a second mounting portion 25, and the second arm 31-2 is mounted on the second mounting portion 25. The second mounting portion 25 is protrudingly provided on the body 20.

[0286] Please also read Figure 1 , 6 7. In the embodiment of the present invention, the fuselage 20 is further provided with a receiving portion 26, which is opposite to the actuator 332 when it is located at the predetermined folding position, and is used to receive a part of the structure of the actuator 332. The receiving portion 26 is provided at the junction of the top 20-5, the side surfaces 20-3 and 20-4, and the tail 20-2 (or the head 20-1) of the fuselage 20, and / or at the junction of the bottom 20-6, the side surfaces 20-3 and 20-4, and the head 20-1 (or the tail 20-2) of the fuselage 20.

[0287] In other embodiments, Figure 13-14 As shown, the receiving portion 261 may be disposed at the junction of the top 20-5 and the side surface 20-3 or 20-4 of the body 20, and / or, disposed at the junction of the bottom 20-6 and the side surface 20-3 or 20-4 of the body 20. The receiving portion 261 is adapted to the shape of a portion of the structure of the corresponding actuator 332.

[0288] Optionally, the unmanned aerial vehicle 100 may further include a communication antenna (not shown), and the tripod 32 is also used to provide an attached space for the communication antenna. In this embodiment, the tripod 32 is at a non-orthogonal angle relative to the length direction of the connected arm 31, thereby increasing the distance between the communication antenna and the fuselage 20 without increasing the length of the tripod 32 protruding from the fuselage 20, so that the communication antenna can be as far away as possible from the electromagnetic interference generated by the electronic components in the fuselage 20, so as to improve the performance of the antenna transmitting signals.

[0289] The fuselage 20 may be a shell, and other components of the UAV 100 may be contained therein, such as a flight controller, an inertial measurement unit (IMU), an electric speed controller, a battery, etc.

[0290] The flight controller is used to control the flight state of the unmanned aerial vehicle 100, including the flight speed, flight attitude, etc. The inertial measurement unit is used to detect the attitude of the unmanned aerial vehicle 100. The electric regulator is arranged in the fuselage 20 and is electrically connected to the flight controller. Under the control of the flight controller, the electric regulator can adjust the rotation speed and rotation direction of the power device 33. There can be multiple electric regulators, one or more of which are respectively connected to the power device 33 and used to adjust the rotation speed and rotation direction of the power device to adjust the flight speed and flight attitude of the unmanned aerial vehicle 100. The battery is used to provide working power to the unmanned aerial vehicle 100.

[0291] like Fig.15 As shown, in this embodiment, it can also be understood that the unmanned aerial vehicle 100 includes a frame 71, a power system 72, and a flight control system 73. Among them, the power system and the flight control system are arranged on the frame 41 or arranged in the frame 41. The frame 71 at least includes the fuselage 20 (or 21 or 22 or 23), the arm 31 and the tripod 32. The fuselage 20 (or 21 or 22 or 23) can also be called a center frame. In this embodiment, the arm 31 is connected to the fuselage 20 (or 21 or 22 or 23), and the tripod 32 is connected to the free end of the arm 31. In other embodiments, the arm 412 and the tripod 413 are respectively connected to the fuselage 411.

[0292] The power system 72 at least includes the power device 33 , the electric regulator 721 , and the battery 722 .

[0293] The flight control system 73 at least includes a flight controller 731 and a plurality of sensor modules 732. The sensor module 732 is a component that can sense the information to be measured and convert the sensed information into an electrical signal or other required form of information output according to a certain rule. The sensor module 732 may include, but is not limited to, the inertial measurement unit, compass, GPS sensor, distance sensor, etc.

[0294] The unmanned aerial vehicle in the embodiment of the present invention can change the height of the arm or the flight component compared to the bottom of the fuselage and the distance compared to the side surface of the fuselage in the folded state, which is beneficial to reduce the volume of the fuselage in the folded state and make the structure of the folded unmanned aerial vehicle more compact for easy storage and carrying.

[0295] Based on the above-mentioned unmanned aerial vehicle, an embodiment of the present invention further provides a kit for assembling the unmanned aerial vehicle of each of the above-mentioned embodiments. Specifically, the kit includes a fuselage of the unmanned aerial vehicle and a flight component for providing flight power. The flight component is assembled on the fuselage according to the assembly operation instructions, so that the assembled flight component can be movably connected to the fuselage, and the flight component can be selectively in a folded state or an unfolded state relative to the fuselage. In the folded state and the unfolded state, the height of the flight component compared to the bottom of the fuselage and the distance compared to the side surface of the fuselage are different.

[0296] Based on the above-mentioned unmanned aerial vehicle, an embodiment of the present invention further provides an assembly method of an unmanned aerial vehicle, which is used to assemble the unmanned aerial vehicles of the above-mentioned embodiments. Specifically, the assembly method includes: providing a fuselage of the unmanned aerial vehicle, providing a flight component for providing flight power, and assembling the flight component on the fuselage, so that the assembled flight component can be movably connected to the fuselage, and the flight component can be selectively in a folded state or an unfolded state relative to the fuselage. Wherein, in the folded state and the unfolded state, the height of the flight component compared to the bottom of the fuselage and the distance compared to the side surface of the fuselage are different.

[0297] Based on the above unmanned aerial vehicle, an embodiment of the present invention further provides an operating method of the unmanned aerial vehicle, which is used to operate the unmanned aerial vehicle of each of the above embodiments. Specifically, the operating method includes: providing the unmanned aerial vehicle of each of the above embodiments, operating the unmanned aerial vehicle, so that the flight component of the unmanned aerial vehicle has a compact shape compared to the fuselage in a folded state, and has an expanded shape compared to the fuselage in an expanded state.

[0298] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention.

[0299] The disclosure of this patent document contains material that is subject to copyright protection. The copyright is reserved by the copyright owner. The copyright owner has no objection to the facsimile reproduction by anyone of the patent document or the patent disclosure as it exists in the official records and files of the Patent and Trademark Office.

Claims

1. An unmanned aerial vehicle, characterized in that: include: body; An arm, the arm being rotatably connected to the fuselage so that the arm can be selectively in a folded state or an unfolded state relative to the fuselage; as well as A power device carried by the aircraft arm, the power device being used to provide flight power; Wherein, the arm includes a first arm and a second arm, the first arm rotates around a first rotation axis, and the second arm rotates around a second rotation axis along a conical surface, so that the second arm rotates from the unfolded state to enter the folded state, and when the arm is in the folded state, the power device on the second arm is in an opposite direction to the power device on the first arm.

2. An unmanned aerial vehicle, characterized in that: include: body; An arm, the arm being rotatably connected to the fuselage so that the arm can be selectively in a folded state or an unfolded state relative to the fuselage; as well as A power device carried by the aircraft arm, the power device being used to provide flight power; Wherein, the arm includes a first arm and a second arm, the first arm rotates around a first rotation axis, and the second arm rotates around a second rotation axis, so that the second arm rotates from the folded state to enter the unfolded state; wherein, the second rotation axis is at a predetermined inclination angle relative to the roll axis of the unmanned aerial vehicle, and the second rotation axis is roughly perpendicular to the yaw axis of the unmanned aerial vehicle.

3. The unmanned aerial vehicle according to claim 1 or 2, characterized in that: The height of the free end of the arm compared to the bottom of the fuselage in the folded state is greater than the height of the free end of the arm compared to the bottom of the fuselage in the unfolded state.

4. The unmanned aerial vehicle according to claim 1 or 2, characterized in that: The unmanned aerial vehicle further comprises a tripod connected to the free end of the arm, the tripod being used to protect the fuselage from impact during the landing of the unmanned aerial vehicle and to support the fuselage when the unmanned aerial vehicle lands on a supporting surface; Wherein, in the folded state and the unfolded state, the height of the tripod relative to the bottom of the fuselage is different.

5. The unmanned aerial vehicle according to claim 4, characterized in that: The distance between the tripod and the side surface of the fuselage in the folded state is smaller than the distance between the tripod and the side surface of the fuselage in the unfolded state.

6. The unmanned aerial vehicle according to claim 4, characterized in that: The height of the free end of the tripod compared to the bottom of the fuselage in the folded state is greater than the height of the free end of the tripod compared to the bottom of the fuselage in the unfolded state.

7. The unmanned aerial vehicle according to claim 6, characterized in that: The tripod faces the bottom of the fuselage and protrudes from the bottom of the fuselage when the fuselage arm is in the unfolded state.

8. The unmanned aerial vehicle according to claim 1 or 2, characterized in that: The first arm rotates around a first rotation axis relative to a side surface of the fuselage, wherein the first rotation axis is inclined at a first predetermined angle relative to a yaw axis of the unmanned aerial vehicle, and the first rotation axis is substantially parallel to a plane defined by a yaw axis and a roll axis of the unmanned aerial vehicle, so that while the first arm rotates from the folded state to the unfolded state, a free end of the first arm is lowered in height compared to a bottom of the fuselage.

9. The unmanned aerial vehicle according to claim 8, characterized in that: The first arm can be selectively maintained at a predetermined folded position and a predetermined unfolded position relative to the fuselage, and can be rotated between the folded position and the unfolded position, wherein when the first arm is located at the folded position, the free end of the first arm is in close contact with the fuselage, and when the first arm is located at the unfolded position, the free end of the first arm is away from the fuselage.

10. The unmanned aerial vehicle according to claim 9, characterized in that: The unmanned aerial vehicle includes a plurality of the first arms, which are respectively connected to different side surfaces of the fuselage, or are connected in pairs to opposite ends of the same side surface of the fuselage, or are connected in pairs to opposite side surfaces of the fuselage.

11. The unmanned aerial vehicle according to claim 1 or 2, characterized in that: The second arm rotates around a second rotation axis relative to a side surface of the fuselage, wherein the second rotation axis is inclined at a second predetermined angle relative to a roll axis of the unmanned aerial vehicle, and the second rotation axis is substantially perpendicular to a yaw axis of the unmanned aerial vehicle, so that while the second arm rotates from the folded state to the unfolded state, a surface of the second arm facing the top of the fuselage is turned toward the bottom of the fuselage.

12. The unmanned aerial vehicle according to claim 11, characterized in that: The second arm can be selectively maintained at a predetermined folded position and a predetermined unfolded position relative to the fuselage, and can be rotated between the folded position and the unfolded position, wherein when the second arm is located at the folded position, the free end of the second arm is in close contact with the fuselage, and when the second arm is located at the unfolded position, the free end of the second arm is away from the fuselage.

13. The unmanned aerial vehicle according to claim 12, characterized in that: The unmanned aerial vehicle includes a plurality of the second arms, which are respectively connected to different side surfaces of the fuselage, or are connected in pairs to opposite ends of the same side surface of the fuselage, or are connected in pairs to opposite side surfaces of the fuselage.

14. The unmanned aerial vehicle according to claim 9, characterized in that: The free end of the arm is used to connect a power device and a tripod, wherein the power device is used to provide flight power, and the tripod is used to protect the fuselage from impact during the landing of the unmanned aerial vehicle and to support the fuselage when the unmanned aerial vehicle lands on a supporting surface; the power device and the tripod are respectively located on opposite sides of the free end of the arm, and the tripod protrudes from the bottom of the fuselage when the arm is in the deployed position.

15. The unmanned aerial vehicle according to claim 14, characterized in that: The arm includes a first arm and a second arm, the first arm rotates around a first rotation axis on the same plane, so that the directions of the tripod and the power device connected to the first arm remain unchanged during the rotation of the first arm; the second arm rotates around the second rotation axis along a conical surface, so that the second arm rotates from the folded state to the unfolded state, and the directions of the tripod and the power device connected to the second arm also flip along with the second arm during the rotation of the second arm.

16. The unmanned aerial vehicle according to claim 15, characterized in that: The power device includes a propulsion unit. In the folded state, the first arm places the connected propulsion unit on the top of the fuselage, and the second arm places the connected propulsion unit on the bottom of the fuselage.

17. The unmanned aerial vehicle according to claim 16, characterized in that: The first arm and the second arm are respectively connected to opposite ends of the same side surface of the fuselage, and the first arm and the second arm are staggered up and down, so that the first arm and the second arm can be buckled together in the folded state.

18. The unmanned aerial vehicle according to claim 1, wherein: The fuselage also includes a rotation limiting structure, which is used to connect with the machine arm and limit the rotation angle of the machine arm; Alternatively, the fuselage further includes a locking structure, the locking structure being used to be connected to the machine arm and to enable the machine arm to be maintained at a predetermined unfolded position in the unfolded state, and to enable the machine arm to be maintained at a predetermined folded position in the folded state; Alternatively, the fuselage also includes an elastic member, which is used to connect with the arm and drive the arm to automatically retract to a predetermined folded position when the arm is folded to a first predetermined position relative to the fuselage; or, the fuselage also includes an elastic member, which is used to connect with the arm and drive the arm to automatically unfold to a predetermined unfolded position when the arm is unfolded to a second predetermined position relative to the fuselage.

Images