Unmanned aerial vehicle and control method thereof

Abstract

The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle and a control method thereof.The unmanned aerial vehicle comprises an unmanned aerial vehicle body and a grabbing assembly, and the grabbing assembly is separably arranged on the lower side of the unmanned aerial vehicle body; wherein the unmanned aerial vehicle main body comprises a base, a connecting assembly is arranged on the base, one end of the connecting assembly is connected with the grabbing assembly, and the connecting assembly is used for lowering the grabbing assembly to the position of goods needing to be transported, and after the goods are grabbed and fixed by the grabbing assembly, the connecting assembly is connected with the unmanned aerial vehicle main body. And the grabbing assembly is lifted upwards to make contact with the base, so that the grabbing assembly and the base are relatively fixed. According to the unmanned aerial vehicle, various different types of goods can be transported, the freight adaptability of the unmanned aerial vehicle is remarkably improved, meanwhile, the transported goods can be stably grabbed, and unnecessary shaking in the transportation process is prevented.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to an unmanned aerial vehicle and a control method thereof. Background Art

[0002] Unmanned aircraft, or "drones" for short, are flying devices that are controlled by radio remote control equipment and self-contained program control devices. Civilian drones have a wide range of applications, including aerial photography, agriculture, cargo transportation, and many other areas. Among the various drone applications mentioned above, cargo transportation can greatly save manpower and material resources and improve transportation efficiency. Therefore, drone cargo transportation may become a more mainstream mode of transportation in the future.

[0003] However, existing drones can only transport simple and regular goods, and cannot adapt to the transportation of irregular goods, and their adaptability is poor. Even if they transport goods with simple and regular shapes, they are prone to shaking during transportation, affecting the stability of cargo transportation. Summary of the invention

[0004] In order to solve the problems existing in the prior art, the purpose of the present invention is to provide a drone and a control method thereof, which can transport various types of goods, significantly improve the cargo adaptability of the drone, and at the same time can stably grasp the transported goods to prevent unnecessary shaking during transportation.

[0005] In order to achieve the above-mentioned object of the invention, the present invention provides the following technical solutions: A drone, comprising a drone body and a grabbing assembly, wherein the grabbing assembly is detachably arranged on the lower side of the drone body; wherein the drone body comprises a base, a connecting assembly is arranged on the base, one end of the connecting assembly is connected to the grabbing assembly, the connecting assembly is used to lower the grabbing assembly to the cargo to be transported, and after the grabbing assembly grabs and fixes the cargo, the grabbing assembly is lifted upward to contact with the base, so that the grabbing assembly and the base are relatively fixed.

[0006] Preferably, the grabbing assembly includes a base, and a plurality of pairs of grabbing parts are symmetrically arranged on both sides of the base, and along the longitudinal direction of the drone, a plurality of first fixing parts, second fixing parts and third fixing parts for fixing and supporting the transported goods are evenly arranged on the base, and in the transverse direction, the first fixing parts, the second fixing parts and the third fixing parts correspond to the grabbing parts one by one; wherein the first fixing part is located at the transverse center of the base, and the projections of the second fixing parts and the third fixing parts in the vertical direction are located within the transverse working stroke M of each of the grabbing parts.

[0007] Preferably, the first fixing portion, the second fixing portion and the third fixing portion are electric telescopic rods.

[0008] Preferably, the grabbing portion includes a first connecting rod and a second connecting rod, the upper end of the first connecting rod is hinged to a mounting seat correspondingly arranged on the base, the top end is hinged to one end of the first telescopic rod, and the other end of the first telescopic rod is hinged to a mounting seat correspondingly arranged on the base; the lower end of the first connecting rod is hinged to the middle position of the second connecting rod, the top end of the second connecting rod is hinged to one end of the second telescopic rod, the other end of the second telescopic rod is hinged to the middle position of the first connecting rod, and a working claw is provided at the end of the lower end of the second connecting rod.

[0009] Preferably, a detection component is provided on the gripping part, and the detection component is communicatively connected with the control component for detecting whether the gripping part stably grips the goods; wherein the detection component includes a first pressure sensor provided on the working claw, and a second pressure sensor provided on the second connecting rod; wherein the projection of the second fixing part in the vertical direction is located at the middle position of the transverse working stroke of the first pressure sensor, and the projection of the third fixing part in the vertical direction is located at the middle position of the transverse working stroke of the second pressure sensor.

[0010] Preferably, the control component receives the detection values ​​of the first pressure sensor and the second pressure sensor on each of the grasping parts, and controls the movement of the corresponding first telescopic rod and / or the second telescopic rod on each of the grasping parts to grasp the goods according to the received detection values; and controls the movement of the first fixing part and / or the second fixing part and / or the third fixing part to fix the goods.

[0011] Preferably, the connection assembly comprises a lifting motor and a cable, the lifting motor is arranged on the base, one end of the lifting motor is transmission-connected to the cable, and the other end of the cable is connected to the base.

[0012] Preferably, the drone body also includes a first cantilever and a second cantilever respectively arranged on the front and rear sides of the base, and a first rotor and a second rotor are respectively installed at the ends of the first cantilever and the second cantilever, the first rotor is located on the upper side of the first cantilever, and its rotation axis is arranged perpendicular to the horizontal plane, and the second rotor is located on the lower side of the second cantilever, and the angle between its rotation axis and the horizontal plane is less than 90 degrees.

[0013] A method for controlling a drone comprises the following control steps: The control component determines whether the detection value of the first pressure sensor is greater than or equal to a first predetermined threshold value, and if it is less than the first predetermined threshold value, controls the first telescopic rod and / or the second telescopic rod to extend to grab the goods; If it is greater than or equal to the first predetermined threshold, further determining whether the detection value of the second pressure sensor is greater than or equal to a second predetermined threshold; if it is less than the second predetermined threshold, further controlling the first telescopic rod to extend to stably grab the goods; If it is greater than or equal to the second predetermined threshold, the first telescopic rod and / or the second telescopic rod is controlled to stop moving.

[0014] Preferably, when the detected value of the first pressure sensor is greater than or equal to the first predetermined threshold and the detected value of the second pressure sensor is greater than or equal to the second predetermined threshold, the control component controls the second fixing part and the third fixing part corresponding to the grasping part to move downward simultaneously to press and fix the goods; Alternatively, when the received detection value of the first pressure sensor is greater than or equal to the first predetermined threshold and the detection value of the second pressure sensor is less than the second predetermined threshold, the control component only controls the second fixing part corresponding to the grabbing part to move downward to press and fix the goods, and the third fixing part does not move; Alternatively, when the received detection value of the first pressure sensor is smaller than the first predetermined threshold and the detection value of the second pressure sensor is smaller than the second predetermined threshold, the control component controls the second fixing part and the third fixing part corresponding to the grasping part to not move.

[0015] Compared with the prior art, the drone and control method thereof provided by the present invention have the following beneficial technical effects: 1. The present invention provides a first fixing part located at the transverse center of the base on the grabbing assembly, and the projections of the second fixing part and the third fixing part in the vertical direction are located within the transverse working stroke M of each grabbing part. When transporting goods with a long longitudinal dimension, after the goods are grabbed by the grabbing part, since the first fixing part is located at the transverse center of the base, the goods can be effectively prevented from tilting by controlling the first fixing part to press and fix the goods, thereby improving the stability of the goods during transportation. When transporting goods with irregular shapes, after the goods are grabbed by the grabbing part, since the projections of the second fixing part and the third fixing part in the vertical direction are located within the transverse working stroke M of each grabbing part, when the second fixing part and the third fixing part are controlled to press and fix the goods, they can cooperate with the corresponding grabbing part, thereby fixing and supporting the goods more stably and preventing the goods from shaking during transportation. According to different goods to be transported, the first fixing part and / or the second fixing part and / or the third fixing part are controlled to work, which significantly improves the cargo adaptability of the drone.

[0016] 2. The present invention receives the detection values ​​of the first pressure sensor and the second pressure sensor on each gripping part through the control component, and controls the action of the first telescopic rod and the second telescopic rod corresponding to each gripping part according to the received detection values, so that each gripping part can effectively clamp the goods and improve the stability of clamping. At the same time, the second fixing part and / or the third fixing part corresponding to each gripping part is controlled to act according to the results of the first pressure sensor and the second pressure sensor, so as to fully press and fix the different positions of the irregular goods.

[0017] 3. The present invention arranges an auxiliary transport component on the main body of the drone, and the control component can selectively control the movement of the auxiliary transport component to support and fix the end of the transported goods, thereby effectively preventing the goods from tilting, reducing the load borne by the grabbing component, and improving the stability of the goods during transportation.

[0018] 4. The present invention arranges the first rotor on the upper side of the first cantilever with its rotation axis perpendicular to the horizontal plane, and the second rotor on the lower side of the second cantilever with the angle between its rotation axis and the horizontal plane less than 90 degrees, thereby improving the stability of the drone during cargo transportation and further preventing the transported cargo from shaking. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the overall structure of the drone; Figure 2 This is a schematic diagram of the structure of one side of the drone; Figure 3 This is a schematic diagram of the structure of the bottom of the drone; Figure 4 This is a schematic diagram of the structure of the drone when it is unfolded; Figure 5 It is a partial schematic diagram of the grabbing part.

[0020] The meanings of the symbols in the figure are as follows: 1. Drones; 100, drone body; 101, base; 102, first cantilever; 103, second cantilever; 104, first rotor; 105, second rotor; 106, first auxiliary transport assembly; 107, second auxiliary transport assembly; 108, connection assembly; 200, grabbing assembly; 201, base; 202, grabbing part; 203, first fixing part; 204, second fixing part; 205, third fixing part; 206, cable; 207, working claw; 208, first pressure sensor; 209, second pressure sensor; 210, first connecting rod; 211, second connecting rod; 212, first telescopic rod; 213, second telescopic rod. DETAILED DESCRIPTION

[0021] To make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be described clearly and completely in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them.

[0022] Therefore, the following detailed description of the embodiments of the present invention is not intended to limit the scope of the invention claimed for protection, but merely represents some embodiments of the present invention. Based on the embodiments of 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.

[0023] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features and technical solutions in the embodiments may be combined with each other.

[0024] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0025] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the invention product is usually placed when in use, or the orientation or positional relationship commonly understood by those skilled in the art. Such terms are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0026] See attached Figure 1 -Attached Figure 5 As shown, the present invention provides a drone 1, which includes: a drone body 100, a shell (not shown in the figure) and a grabbing assembly 200, and the grabbing assembly 200 is detachably arranged on the lower side of the drone body 100. The drone body 100 includes a base 101, and a connecting assembly 108 is arranged on the base 101. One end of the connecting assembly 108 is connected to the grabbing assembly 200. The connecting assembly 108 is used to lower the grabbing assembly 200 to the cargo to be transported, and after the grabbing assembly 200 grabs and fixes the cargo, the grabbing assembly 200 is lifted upward to contact with the base 101, so that the grabbing assembly 200 and the base 101 are relatively fixed.

[0027] The grab assembly 200 includes a base 201, and a plurality of pairs of grab parts 202 are symmetrically arranged on both sides of the base 201. Along the longitudinal direction Y of the drone, a plurality of first fixing parts 203, second fixing parts 204 and third fixing parts 205 for fixing and supporting the transported goods are evenly arranged on the base 201, and in the transverse direction X, the first fixing parts 203, the second fixing parts 204 and the third fixing parts 205 correspond to the grab parts 202 one by one; wherein the first fixing part 203 is located at the transverse center of the base 201, and the projections of the second fixing parts 204 and the third fixing parts 205 in the vertical direction are located within the transverse working stroke M of each grab part 202. Preferably, the first fixing part 203, the second fixing part 204 and the third fixing part 205 adopt electric telescopic rods to facilitate accurate control of their extension strokes.

[0028] Preferably, the connection assembly 108 includes a lifting motor and a cable 206. The lifting motor is arranged on the base 101, one end of which is connected to the cable 206 in a transmission manner, and the other end of the cable 206 is connected to the base 201. In this embodiment, the lifting motor can realize the winding and unwinding of the cable 206 by rotating forward and reverse, and the lifting and lowering of the grabbing assembly 200 can be realized by winding and unwinding the cable 206. In other embodiments, of course, the connection assembly 108 can also adopt other structures. In addition, it is easy to understand that in order to ensure stability, one or more connection assemblies 108 can be arranged on both sides of the drone body 100 in the lateral direction.

[0029] When the drone is needed to transport goods, the drone is first controlled to fly above the goods to be transported, and then the connection component 108 is controlled to lower the grabbing component 200 to the goods to be transported, and then the grabbing part 202 is controlled to move to grab the goods. After the goods are grabbed by the grabbing part 202, the corresponding first fixing part 203 and / or the second fixing part 204 and / or the third fixing part 205 are controlled to move so as to press and fix the goods to prevent the goods from shaking during transportation. Thereafter, the connection component 108 is controlled to lift the grabbing component 200 upward to contact with the base 101, so that the grabbing component 200 and the base 101 are relatively fixed, and then the drone is controlled to safely transport the goods to the destination.

[0030] In the drone provided by the present invention, the first fixing part located at the transverse center of the base is respectively arranged on the grabbing assembly, and the projections of the second fixing part and the third fixing part in the vertical direction are arranged to be located within the transverse working stroke M of each grabbing part. When transporting goods with a long longitudinal dimension, after the goods are grabbed by the grabbing part, since the first fixing part is located at the transverse center of the base, by controlling the first fixing part to press and fix the goods, the goods can be effectively prevented from tilting, and the stability of the goods during transportation can be improved. When transporting goods with irregular shapes, after the goods are grabbed by the grabbing part, since the projections of the second fixing part and the third fixing part in the vertical direction are located within the transverse working stroke M of each grabbing part, when the second fixing part and the third fixing part are controlled to press and fix the goods, they can cooperate with the corresponding grabbing part, so as to more stably fix and support the goods and prevent the goods from shaking during transportation. According to different transported goods, the first fixing part and / or the second fixing part and / or the third fixing part are controlled to work, which significantly improves the cargo adaptability of the drone.

[0031] Preferably, the grabbing part 202 includes a first connecting rod 210 and a second connecting rod 211. The middle position of the upper end of the first connecting rod 210 is hinged to a corresponding mounting seat on the base 201, and the top end is hinged to one end of the first telescopic rod 212, and the other end of the first telescopic rod 212 is hinged to a corresponding mounting seat on the base 201; the lower end of the first connecting rod 210 is hinged to the middle position of the second connecting rod 211, the top end of the second connecting rod 211 is hinged to one end of the second telescopic rod 213, and the other end of the second telescopic rod 213 is hinged to the middle position of the first connecting rod 210, and the end of the lower end of the second connecting rod 211 is provided with a working claw 207. Among them, the control component (not shown in the figure) can control the actions of the first telescopic rod 212 and the second telescopic rod 213 respectively to grab the goods.

[0032] Preferably, a detection component is provided on the gripping portion 202, and the detection component is in communication connection with the control component, and is used to detect whether the gripping portion 202 stably grips the goods; wherein the detection component includes a first pressure sensor 208 provided on the working claw 207, and a second pressure sensor 209 provided on the second connecting rod 211. wherein the projection of the second fixing portion 204 in the vertical direction is located at the middle position of the horizontal working stroke of the first pressure sensor 208, and the projection of the third fixing portion 205 in the vertical direction is located at the middle position of the horizontal working stroke of the second pressure sensor 209.

[0033] Preferably, the control component receives the detection values ​​of the first pressure sensor 208 and the second pressure sensor 209 on each grasping part 202, and controls the corresponding first telescopic rod 212 and / or second telescopic rod 213 on each grasping part 202 to move to grasp the goods according to the received detection values; and controls the first fixing part 203 and / or the second fixing part 204 and / or the third fixing part 205 to move to fix the goods.

[0034] Preferably, the drone body 100 also includes a first auxiliary transport component 106 and a second auxiliary transport component 107 arranged on the front and rear sides of the base 101. The control component can selectively control the first auxiliary transport component 106 and / or the second auxiliary transport component 107 to move according to the needs of transporting goods, so as to facilitate the auxiliary transport of the goods to be transported and prevent unnecessary shaking during transportation. As an option, the first auxiliary transport component 106 and / or the second auxiliary transport component 107 are equipped with auxiliary motors and auxiliary cables. When transporting goods with larger longitudinal dimensions, the control component selectively controls the first auxiliary transport component 106 and / or the second auxiliary transport component 107 to lower the auxiliary cables, and uses the auxiliary cables to support and fix the ends of the transported goods, thereby effectively preventing the goods from tilting, reducing the load borne by the grabbing component 200, and improving the stability of the goods during transportation. Further, in some embodiments, the first auxiliary transport component 106 and / or the second auxiliary transport component 107 can also be connected with an adjustment component for adjusting its longitudinal position to facilitate adaptation to goods of different lengths.

[0035] Preferably, the drone body 100 further includes a first cantilever 102 and a second cantilever 103 respectively arranged at the front and rear sides of the base 101, and a first rotor 104 and a second rotor 105 are respectively installed at the ends of the first cantilever 102 and the second cantilever 103, the first rotor 104 is located on the upper side of the first cantilever 102, and its rotation axis is vertically arranged with the horizontal plane, and the second rotor 105 is located on the lower side of the second cantilever 103, and the angle between its rotation axis and the horizontal plane is less than 90 degrees. The above-mentioned power arrangement provided by the present invention can improve the stability of the drone during cargo transportation, and further prevent the transported cargo from shaking.

[0036] The present invention also provides a method for controlling a drone, the method comprising the following steps: For each grabbing portion 202, the control component determines whether the detection value of the first pressure sensor 208 is greater than or equal to a first predetermined threshold value. If it is less than the first predetermined threshold value, the first telescopic rod 212 and / or the second telescopic rod 213 are respectively controlled to extend to grab the goods; If it is greater than or equal to the first predetermined threshold, it means that the position of the first pressure sensor 208 has been clamped in place. Then, it is further determined whether the detection value of the second pressure sensor 209 is greater than or equal to the second predetermined threshold. If it is less than the second predetermined threshold, the first telescopic rod 212 is further controlled to extend to stably grab the goods; If it is greater than or equal to the second predetermined threshold, it means that the position of the second pressure sensor 209 has been clamped in place. At this time, the first telescopic rod 212 and / or the second telescopic rod 213 are controlled to stop moving.

[0037] According to the above embodiment, when the grasping unit 202 grasps the goods, it controls the movement of the first telescopic rod 212 and / or the second telescopic rod 213 so that the detection areas of the first pressure sensor 208 and the second pressure sensor 209 can effectively clamp the goods as much as possible, thereby increasing the grasping area of ​​the grasping unit 202 when grasping irregular goods and improving the stability of clamping.

[0038] Preferably, the control method further comprises: if the detection value of the second pressure sensor 209 is still not greater than a second predetermined threshold after the first telescopic rod 212 is extended to the limit position, controlling the first telescopic rod 212 to remain at the limit position.

[0039] In the above preferred embodiment, if the detection value of the second pressure sensor 209 is still not greater than the second predetermined threshold value after the first telescopic rod 212 is extended to the limit position, it means that in the process of grabbing the irregular cargo, the cargo has not touched the detection range of the second pressure sensor 209, and the first telescopic rod 212 is controlled to remain in the limit position, and the cargo is clamped by the working claw 207 at this time.

[0040] Preferably, the control method also includes: if the first telescopic rod 212 and the second telescopic rod 213 move within the entire working stroke, the control component determines that the received detection values ​​of the first pressure sensor 208 are all less than the first predetermined threshold, then the first telescopic rod 212 and the second telescopic rod 213 are controlled to reset to the initial position.

[0041] According to the above preferred embodiment, if the control component operates within the entire working stroke of the first telescopic rod 212 and the second telescopic rod 213, and the detection values ​​received from the first pressure sensor 208 are all less than the first predetermined threshold value, it means that there is no part that can effectively clamp the goods within the working range of the grasping part 202, and therefore the grasping part 202 is controlled to reset to the initial position to avoid obstruction to the transported goods.

[0042] Preferably, after the cargo is clamped, the control method further comprises: the control component controls the second fixing part 204 and / or the third fixing part 205 to press and fix the cargo, wherein: When the detected value of the first pressure sensor 208 of one of the gripping parts 202 is greater than or equal to the first predetermined threshold value and the detected value of the second pressure sensor 209 is greater than or equal to the second predetermined threshold value, it means that the gripping part 202 has effectively clamped the goods. At this time, the second fixing part 204 and the third fixing part 205 corresponding to the gripping part 202 are controlled to move downward at the same time to compress and fix the goods. When it is determined that the areas where the first pressure sensor 208 and the second pressure sensor 209 are located are both clamping the goods, the second fixing part 204 and the third fixing part 205 corresponding to the gripping part 202 are controlled to move downward at the same time, so that the goods can be fully compressed and fixed.

[0043] When the detection value of the first pressure sensor 208 of one of the gripping parts 202 is greater than or equal to the first predetermined threshold value and the detection value of the second pressure sensor 209 is less than the second predetermined threshold value, it means that the gripping part 202 has only achieved effective clamping of the goods at the working claw 207. At this time, only the second fixing part 204 corresponding to the gripping part 202 is controlled to move downward to press and fix the goods, and the third fixing part 205 does not move. When it is determined that the area where the second pressure sensor 209 is located does not clamp the goods, only the second fixing part 204 corresponding to the gripping part 202 is controlled to move downward to press and fix the goods, and the third fixing part 205 does not move. At this time, a certain clamping force can be provided, and the third fixing part 205 is prevented from pressing the parts of the goods that are not effectively clamped, thereby preventing the goods from being improperly displaced.

[0044] When the detection value of the first pressure sensor 208 of one of the gripping parts 202 is less than the first predetermined threshold value and the detection value of the second pressure sensor 209 is less than the second predetermined threshold value, it means that the gripping part 202 has not achieved effective clamping of the goods. At this time, the second fixing part 204 and the third fixing part 205 corresponding to the gripping part 202 are controlled not to move. When it is determined that one gripping part 202 has not effectively clamped the goods, the second fixing part 204 and the third fixing part 205 corresponding to the gripping part 202 are controlled not to move, thereby avoiding the adverse effect of improper pressing action on the effective clamping of other gripping parts 202.

[0045] The above embodiments are only used to illustrate the present invention and are not intended to limit the technical solutions described in the present invention. Although the present invention has been described in detail with reference to the above embodiments, the present invention is not limited to the above specific implementation methods. Therefore, any modification or equivalent replacement of the present invention; and all technical solutions and improvements thereof that do not depart from the spirit and scope of the invention are included in the scope of the claims of the present invention.

Claims

1. A drone, characterized in that: The drone includes a drone body and a grabbing component, and the grabbing component can be detachably arranged on the lower side of the drone body; wherein, the drone body includes a base, and a connecting component is arranged on the base, one end of the connecting component is connected to the grabbing component, and the connecting component is used to lower the grabbing component to the cargo to be transported, and after the grabbing component grabs and fixes the cargo, the grabbing component is lifted upward to contact with the base, so that the grabbing component and the base are relatively fixed.

2. The drone according to claim 1, characterized in that: The grabbing assembly includes a base, and a plurality of pairs of grabbing parts are symmetrically arranged on both sides of the base, and along the longitudinal direction of the drone, a plurality of first fixing parts, second fixing parts and third fixing parts for fixing and supporting the transported goods are evenly arranged on the base, and in the transverse direction, the first fixing parts, the second fixing parts and the third fixing parts correspond to the grabbing parts one by one; wherein the first fixing part is located at the transverse center of the base, and the projections of the second fixing parts and the third fixing parts in the vertical direction are located within the transverse working stroke M of each of the grabbing parts.

3. The drone according to claim 2, characterized in that: The first fixing part, the second fixing part and the third fixing part are electric telescopic rods.

4. The drone according to claim 3, characterized in that: The grabbing portion includes a first connecting rod and a second connecting rod, the upper end of the first connecting rod is hinged to a mounting seat correspondingly arranged on the base, the top end is hinged to one end of the first telescopic rod, and the other end of the first telescopic rod is hinged to a mounting seat correspondingly arranged on the base; the lower end of the first connecting rod is hinged to the middle position of the second connecting rod, the top end of the second connecting rod is hinged to one end of the second telescopic rod, the other end of the second telescopic rod is hinged to the middle position of the first connecting rod, and a working claw is provided at the end of the lower end of the second connecting rod.

5. The drone according to claim 4, characterized in that: A detection component is provided on the gripping part, and the detection component is communicatively connected with the control component for detecting whether the gripping part stably grips the goods; wherein the detection component includes a first pressure sensor provided on the working claw, and a second pressure sensor provided on the second connecting rod; wherein the projection of the second fixing part in the vertical direction is located at the middle position of the transverse working stroke of the first pressure sensor, and the projection of the third fixing part in the vertical direction is located at the middle position of the transverse working stroke of the second pressure sensor.

6. The drone according to claim 5, characterized in that: The control component receives detection values ​​of the first pressure sensor and the second pressure sensor on each of the grasping parts, and controls the corresponding first telescopic rod and / or second telescopic rod on each of the grasping parts to move according to the received detection values, so as to grasp the goods; And controlling the first fixing part and / or the second fixing part and / or the third fixing part to move so as to fix the goods.

7. The drone according to claim 6, characterized in that: The connection assembly includes a lifting motor and a cable. The lifting motor is arranged on the base, one end of the lifting motor is transmission-connected to the cable, and the other end of the cable is connected to the base.

8. The drone according to claim 7, characterized in that: The drone body also includes a first cantilever and a second cantilever respectively arranged on the front and rear sides of the base, and a first rotor and a second rotor are respectively installed at the ends of the first cantilever and the second cantilever, the first rotor is located on the upper side of the first cantilever, and its rotation axis is perpendicular to the horizontal plane, and the second rotor is located on the lower side of the second cantilever, and the angle between its rotation axis and the horizontal plane is less than 90 degrees.

9. A method for controlling a drone as claimed in claim 8, characterized in that: The control steps include: The control component determines whether the detection value of the first pressure sensor is greater than or equal to a first predetermined threshold value, and if it is less than the first predetermined threshold value, controls the first telescopic rod and / or the second telescopic rod to extend to grab the goods; If it is greater than or equal to the first predetermined threshold, further determining whether the detection value of the second pressure sensor is greater than or equal to a second predetermined threshold; if it is less than the second predetermined threshold, further controlling the first telescopic rod to extend to stably grab the goods; If it is greater than or equal to the second predetermined threshold, the first telescopic rod and / or the second telescopic rod is controlled to stop moving.

10. The control method according to claim 9, characterized in that: When the detected value of the first pressure sensor is greater than or equal to the first predetermined threshold and the detected value of the second pressure sensor is greater than or equal to the second predetermined threshold, the control component controls the second fixing part and the third fixing part corresponding to the grasping part to move downward simultaneously to press and fix the cargo; Alternatively, when the received detection value of the first pressure sensor is greater than or equal to the first predetermined threshold and the detection value of the second pressure sensor is less than the second predetermined threshold, the control component only controls the second fixing part corresponding to the grabbing part to move downward to press and fix the goods, and the third fixing part does not move; Alternatively, when the received detection value of the first pressure sensor is smaller than the first predetermined threshold and the detection value of the second pressure sensor is smaller than the second predetermined threshold, the control component controls the second fixing part and the third fixing part corresponding to the grasping part to not move.

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