Flight device, function module and flight suite

Abstract

The invention discloses a flight device, a function module and a flight suite. The flight suite comprises the flight device; the system comprises a flight device, and a function module, the function module can be connected with or separated from the flight device, so that the function module and the flight device can be in a combined state or a separated state; the obstacle avoidance module is at least used for detecting obstacle information in the flight direction; in the combined state, the function module is arranged on the flight device in a protruding mode. And in the separated state, the functional module can be used independently. According to the technical scheme, the function module is detachably connected with the flight device, the combination state of the unmanned aerial vehicle can be achieved, the function module can be detached from the flight device to be used independently, and reuse of the unmanned aerial vehicle and the function module is achieved.

Description

[0001] This application is a divisional application of Chinese Patent Application No. 202080069839.4, titled "Flying Device, Handheld Gimbal and Flying Kit", filed on December 30, 2020. Technical Field

[0002] Embodiments of the present application relate to the technical field of unmanned aerial vehicle design, and particularly to a flying device, a functional module and a flying kit. Background Art

[0003] Generally, an unmanned aerial vehicle realizes aerial photography with a stable picture by installing a gimbal camera. A handheld gimbal generally refers to a handheld gimbal camera, which includes a camera, a three-axis stabilization gimbal, a camera system, a power supply, a holding part, etc., and can realize stable handheld ground shooting. In the related art, an unmanned aerial vehicle and a handheld gimbal are separate products, and the combined use of their functional modules cannot be realized. Summary of the Invention

[0004] In view of the above-mentioned defects in the prior art, embodiments of the present application provide a flying device, a functional module and a flying kit.

[0005] In a first aspect, an embodiment of the present application provides a flying kit, including:

[0006] A flying device; and,

[0007] A functional module, the functional module can be connected to or separated from the flying device, so that the functional module and the flying device can be in a combined state or a separated state;

[0008] An obstacle avoidance module, the obstacle avoidance module is at least used to detect obstacle information in the flight direction;

[0009] In the combined state, the functional module protrudes from the flying device;

[0010] In the separated state, the functional module can be used alone.

[0011] In a second aspect, an embodiment of the present application provides a flying device,

[0012] An obstacle avoidance module, the obstacle avoidance module is at least used to detect obstacle information in the flight direction;

[0013] The flying device can be connected to or separated from the functional module, so that the flying device and the functional module can be in a combined state or a separated state;

[0014] In the combined state, the functional module protrudes from the flying device;

[0015] In the separated state, the functional module can be used alone.

[0016] The third aspect of the embodiment of the present application provides a functional module, including:

[0017] The functional module can be connected to or separated from the flying device, so that the functional module and the flying device can be in a combined state or a separated state;

[0018] The functional module includes an obstacle avoidance module, and the obstacle avoidance module is at least used to detect obstacle information in the flight direction of the flying device;

[0019] In the combined state, the functional module protrudes from the flying device;

[0020] In the separated state, the functional module can be used alone.

[0021] The fourth aspect of the embodiment of the present application provides a flying kit, including:

[0022] A flying device; and

[0023] A functional module, the functional module can be connected to or separated from the flying device, so that the functional module and the flying device can be in a combined state or a separated state;

[0024] Wherein, there is at least one operation module on the functional module. In the combined state, at least one of the operation modules is used to obtain a user operation and determine the working mode of the flying kit according to the user operation. The working mode includes a flight mode and a handheld mode.

[0025] The fifth aspect of the embodiment of the present application provides a flying device, including

[0026] The flying device can be connected to or separated from the functional module, so that the flying device and the functional module can be in a combined state or a separated state;

[0027] The functional module has at least one operation module. In the combined state, at least one of the operation modules is used to obtain the operation of the user and determine the working mode between the flying device and the functional module according to the user operation. The working mode includes a flight mode and a handheld mode.

[0028] The sixth aspect of the embodiment of the present application further provides a functional module,

[0029] The functional module can be connected to or separated from the flying device, so that the functional module and the flying device can be in a combined state or a separated state;

[0030] The functional module has at least one operation module. In the combined state, at least one of the operation modules is used to obtain the user's operation and determine the working mode between the flying device and the functional module according to the user operation. The working mode includes a flight mode and a handheld mode.

[0031] Based on the above, the flying device, handheld gimbal and unmanned aerial vehicle provided by the embodiments of the present application detachably connect the handheld gimbal to the flying device, enabling the combined state of the unmanned aerial vehicle. The handheld gimbal can also be detached from the flying device and used alone, realizing the reuse of the unmanned aerial vehicle and the handheld gimbal. Moreover, in the usage state of the unmanned aerial vehicle, the holding part of the handheld gimbal can be held by the user to achieve the handheld takeoff and landing of the unmanned aerial vehicle, greatly facilitating the user operation. In the usage state of the unmanned aerial vehicle, the connection part of the handheld gimbal is connected to the flying device, and the handheld gimbal can also lock the arm at the same time. The flying device can also realize the folding and unfolding of the arm. When the arm is folded, the part of the arm far from the fuselage is basically attached, and the connection part can also be surrounded therein, making the storage more compact. Description of the Drawings

[0032] To more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for the description of the embodiments. Obviously, the following drawings are some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0033] Figure 1 It is a schematic structural diagram of the front view of the flying device provided by an embodiment of the present application;

[0034] Figure 2a It is a schematic structural diagram of the handheld gimbal provided by an embodiment of the present application;

[0035] Figure 2b For Figure 2a It is a schematic diagram when the handheld gimbal provided is used by the user;

[0036] Figure 3a It is a schematic structural diagram of the flying device and the handheld gimbal in the combined state provided by an embodiment of the present application;

[0037] Figure 3b For Figure 3a It is a schematic diagram when the flying device and the handheld gimbal in the combined state are used by the user;

[0038] Figure 4 It is a schematic structural diagram of the flying device in the unfolded state provided by an embodiment of the present application;

[0039] Figure 5Schematic structural diagram of the flight device in the retracted state provided by an embodiment of the present application;

[0040] Figure 6a Schematic structural diagram of the flight device in the deployed state provided by another embodiment of the present application;

[0041] Figure 6b Schematic structural diagram of the flight device during the retraction process provided by another embodiment of the present application;

[0042] Figure 6c Schematic structural diagram of the flight device in the retracted state provided by another embodiment of the present application;

[0043] Figure 7a Partial schematic structural diagram of the flight device with a first connection part and a first electrical connection part provided by an embodiment of the present application;

[0044] Figure 7b Schematic structural diagram of the handheld gimbal with a second connection part and a second electrical connection part provided by an embodiment of the present application;

[0045] Figure 8 Schematic diagram of the state before combination of the flight device of the unmanned aerial vehicle and the handheld gimbal provided by an embodiment of the present application;

[0046] Figure 9a Top view of the flight device provided by an embodiment of the present application;

[0047] Figure 9b Front view of the flight device provided by an embodiment of the present application;

[0048] Figure 9c Side view of the flight device provided by an embodiment of the present application;

[0049] Figure 10a Schematic diagram of the state of the unmanned aerial vehicle before installation of the landing gear provided by an embodiment of the present application;

[0050] Figure 10b Schematic diagram of the state of the unmanned aerial vehicle with the landing gear installed provided by an embodiment of the present application;

[0051] Figure 11 Electrical control schematic diagram of the video transmission module of the unmanned aerial vehicle provided by an embodiment of the present application;

[0052] Figure 12 Electrical control schematic diagram of the flight control module and the power system of the unmanned aerial vehicle provided by an embodiment of the present application. Detailed implementation manners

[0053] The following will clearly describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts shall fall within the protection scope of the present application.

[0054] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs. The terms used in the specification of this application herein are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0055] The term "including" mentioned throughout the specification and claims is an open-ended term and should be interpreted as "including but not limited to". "Substantially" means within an acceptable error range. Those skilled in the art can solve the technical problems within a certain error range and basically achieve the technical effects.

[0056] In addition, the term "connected" herein includes any direct and indirect connection means. Therefore, if it is described in the text that a first device is connected to a second device, it means that the first device can be directly connected to the second device or indirectly connected to the second device through other devices.

[0057] It should be understood that the terms "and / or" used herein are only a description of the association relationship of associated objects, indicating that three relationships can exist. For example, A1 and / or B1 can represent: A1 exists alone, A1 and B1 exist simultaneously, and B1 exists alone. In addition, the character " / " in this text generally represents an "or" relationship between the associated objects before and after.

[0058] The following will make a detailed description of some embodiments of the present application with reference to the accompanying drawings. Without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0059] The inventor creatively found through labor that the drones and handheld gimbals in the related art are two completely independent products. Traditional drones are stationary on the ground when taking off and are controlled for takeoff and landing through a control terminal, or the user grasps the fuselage of the drone and, under the control of the control terminal, realizes the takeoff of the drone. Or, in some application scenarios, the drone takes pictures in a non-takeoff state. However, in the above two usage scenarios, the drone is not convenient to hold. And traditional gimbal cameras must be used in combination with drones. Currently, there is no product that combines a drone and a handheld gimbal and can be used in combination.

[0060] Embodiments of the present application provide a flight device, a handheld gimbal, and an unmanned aerial vehicle to solve the above-mentioned specific technical problems, which can realize the combination of the flight device and the handheld gimbal without affecting the independent use of the handheld gimbal.

[0061] Figure 1 It is a schematic structural diagram of the front view of the flight device provided by an embodiment of the present application; Figure 2a It is a schematic structural diagram of the handheld gimbal provided by an embodiment of the present application; Figure 2b For Figure 2a A schematic diagram when the provided handheld gimbal is used by a user; Figure 3a It is a schematic structural diagram of the flight device and the handheld gimbal in a combined state provided by an embodiment of the present application; Figure 3b For Figure 3a A schematic diagram when the flight device and the handheld gimbal in a combined state are used by a user. Please refer to the attached Figure 1 ~FIG. 3. The flight kit provided by this embodiment includes a flight device 100 and a handheld gimbal 200.

[0062] The handheld gimbal 200 is detachably connected to the flight device 100 so that the unmanned aerial vehicle has a combined state and a separated state. Specifically, the detachable connection method between the handheld gimbal 200 and the flight device 100 is not limited. For example, it can be a threaded connection, a snap connection, or even a magnetic attraction, etc. When using magnetic attraction, a magnetic part with a relatively large magnetic force can be used. After testing, as long as the magnetic force is sufficient, it can fully meet the reliable fixation of the handheld gimbal 200 and the flight device 100.

[0063] In the combined state, the handheld gimbal 200 protrudes from the flight device 100. One end of the handheld gimbal 200 is connected to the flight device 100, and the holding part 201 of the handheld gimbal 200 protrudes from the flight device 100 so that the holding part 201 can be held by the user, thereby realizing the hand-held takeoff and landing of the unmanned aerial vehicle; in the separated state, the handheld gimbal 200 can be used independently.

[0064] Specifically, the flight device 100 can at least have a fuselage 101 and arms 102. In the flight state, when the unmanned aerial vehicle is in the flight state, multiple arms 102 are arranged around the fuselage 101.

[0065] It should be noted that the so-called fuselage 101 refers to the connecting part for connecting one end of multiple arms 102. The fuselage 101 may be provided with relevant electronic components, or the fuselage 101 is only a mechanical connecting part without any electronic components provided on the fuselage 101 of the flying device 100. When the fuselage 101 is provided with electronic components, preferably, the interior of the fuselage 101 may have an accommodation cavity to facilitate the accommodation of electronic components. Of course, in some other embodiments, the electronic components may also be directly exposed and provided on the fuselage 101, which is not limited in this application.

[0066] The power system includes a propeller, a motor, etc. There is at least one propeller 1041 on the arm 102, and each propeller 1041 can rotate by being driven by, for example, a motor 1042. The number of arms 102 can match the number of propellers 1041.

[0067] In some embodiments, the number of arms 102 is four, and the corresponding number of propellers 1041 is also four. Thus, the entire unmanned aerial vehicle forms a quadrotor drone. In some other embodiments, the number of arms 102 and propellers 1041 can be six, eight, etc. Of course, it cannot be excluded that the number of arms 102 can be greater than the number of propellers 1041, so that some of the arms 102 are provided with propellers 1041 while some other arms 102 do not have propellers 1041.

[0068] The flying device 100 provided in this embodiment only needs to be able to be driven to fly under the drive of the power system. Each propeller 1041 is driven to rotate by a corresponding motor 1042, and each power system is independently controlled so that each propeller 1041 can be individually controlled to rotate, and the rotation speed and / or steering of each propeller 1041 are respectively controlled to enable the unmanned aerial vehicle to switch between different flight states, such as forward flight, backward flight, deflection, pitch, deceleration, acceleration, etc., and to achieve the switching of multiple flight modes.

[0069] Figure 4 It is a schematic structural diagram of the flying device provided in an embodiment of the present application in the deployed state; Figure 5 It is a schematic structural diagram of the flying device provided in an embodiment of the present application in the retracted state; Figure 6a It is a schematic structural diagram of the flying device provided in another embodiment of the present application in the deployed state; Figure 6b It is a schematic structural diagram of the flying device provided in another embodiment of the present application during the retraction process; Figure 6c It is a schematic structural diagram of the flying device provided in another embodiment of the present application in the retracted state; as Figure 4 and Figure 5 and Figures 6a - 6cAs shown, in some embodiments, multiple arms 102 can be rotatably connected to the fuselage 101 so that the flying device 100 has a retracted state and an extended state. When the flying device 100 does not need to fly, the arms 102 of the flying device 100 can be rotated relative to the fuselage 101, so that the flying device 100 is in a folded state, greatly reducing the overall volume of the flying device 100 and facilitating storage. When the flying device 100 is combined with the handheld gimbal 200 and needs to fly, the arms 102 can be rotated relative to the fuselage 101 in a direction away from the fuselage 101, so that the flying device 100 is in an extended state.

[0070] The power system includes propellers. In the retracted state, the propellers 1042 can be distributed outside the flying device 100. As Figure 5 shown, in the retracted state, the multiple arms 102 can be substantially parallel. Thus, the volume of each arm 102 after retraction is minimized. In this embodiment, in the retracted state, the portions of the multiple arms 102 away from the fuselage 101 are substantially in contact. As Figure 4 and Figure 7a shown, the arm 102 can include multiple arm connection portions e1, a rotating shaft e2, and an extension portion e3. The rotating shaft is used for rotatably connecting with the arm connection portion. The multiple arm connection portions e1 are respectively rotatably connected to the multiple rotating shafts e2, so that the multiple rotating shafts e2 are rotatably connected to the fuselage 101.

[0071] The extension portion is used for connecting the fuselage 101 and the power system. The so-called substantially in contact means gathering together, and it is not limited that every part is in contact. For example, the rotating shaft may not be in contact, and the extension portion may be in contact. Each arm 102 can be substantially in contact with each other after retraction, and the motors 1042 in the arms 102 arranged side by side can be in contact with each other.

[0072] The fuselage 101 can include a connection portion 1011. The fuselage 101 is used for detachably connecting with the handheld gimbal 200 through the connection portion 1011; the arm 102 can rotate toward the connection portion 1011 so that the flying device can be in a retracted state; in the retracted state, the arm 102 is substantially surrounded around the connection portion 1011. For the flying device of this embodiment, the overall structure is very simple after the arm 102 is retracted, the volume is almost minimized, which is convenient for storage. Moreover, the fuselage connection portion 1011 is surrounded by the arm 102, which can better protect the connection portion 1011.

[0073] The fuselage 101 can be mechanically and electrically connected to the handheld gimbal 200 through the connection portion 1011. When the fuselage 101 is mechanically and electrically connected to the handheld gimbal 200, the fuselage 101 can obtain power from the handheld gimbal 200 and supply power to the power system.

[0074] In this embodiment, in the stowed state, the motors 1041 in the juxtaposed arms 102 can be in contact with each other. In some alternative embodiments, as Figures 6a to 6c shown, in the stowed state, the motors 1041 in the arms 102 are substantially aligned.

[0075] Figure 5 In the embodiment shown, a plurality of arms 102 can be brought closer together. In the stowed state, the plurality of arms 102 are substantially in contact, a part of the plurality of arms 102 are arranged in an overlapping manner, and another part of the plurality of arms 102 can be arranged side by side. For example, as Figure 5 shown in, there are four arms 102, two of the arms 102 are arranged in an overlapping manner, and the other two arms 102 are also arranged in an overlapping manner. The two pairs of arms 102 after being arranged in an overlapping manner are arranged side by side.

[0076] More preferably, as Figure 6c shown, in the stowed state, the plurality of arms 102 and the motors 1042 are arranged in a stacked manner in sequence. This minimizes the size of the stowed flying device. Also, since all the arms 102 and the motors 1042 are arranged in a stacked manner, there will be no interference between each arm 102 and the propeller 1041. Therefore, a propeller protection cover 1021 can be provided outside the propeller 1041, and the propeller protection cover 1021 can be fixedly connected to the arm 102. Specifically, a connecting bracket 1022 can be connected to the inner side of the propeller protection cover 1021. One end of the connecting bracket 1022 is connected to the inner side wall of the propeller protection cover 1021, and the other end of the connecting bracket 1022 is fixedly connected to the arm 102. By providing the propeller protection cover 1021, a certain protection effect can be achieved on the propeller 1041, preventing the propeller 1041 from hitting an obstacle and being distorted, cracked, etc., thereby effectively increasing the service life of the propeller 1041.

[0077] Each propeller 1041 of the flying device 100 in this embodiment is correspondingly surrounded by a propeller blade protection cover 1023. Or, in some alternative embodiments, a part of the propellers 1041 of the flying device 100 are correspondingly surrounded by the propeller blade protection cover 1023, while the other part of the propellers 1041 have no propeller blade protection cover 1023.

[0078] In order to achieve Figures 6a to 6c the stacked arrangement of the folded arms 102, specifically, along the yaw axis Z direction of the flying device, the setting position of the rotation axis of a part of the plurality of arms 102 is higher than the setting position of the rotation axis of another part of the plurality of arms 102; for example, as Figure 6a shown, the setting position of the rotation axis of the arm 102 corresponding to the No. 1 propeller 1041 is lower than the setting position of the rotation axis of the arm 102 corresponding to the No. 2 propeller 1041.

[0079] In some embodiments, along the pitch axis Y direction of the flying device 100, the setting positions of the rotation axis lines of some of the plurality of arms 102 are close to the center of the fuselage 100, and the setting positions of the rotation axis lines of the other part of the plurality of arms 102 are far from the center of the fuselage 100. For example, as Figure 6a shown, the setting position of the rotation axis of the arm 102 corresponding to the No. 1 propeller 1041 is closer to the inside, that is, closer to the center of the fuselage 100, compared with the setting position of the rotation axis of the arm 102 corresponding to the No. 2 propeller 1041.

[0080] Thus, as Figure 6b shown, when folding, the No. 1 propeller 1041 can be folded to be located inside in the stacking direction, and during the folding operation, the No. 1 propeller 1041 is folded first, and then the No. 2 propeller 1041 is folded outside. Similarly, the arrangement and folding methods of the No. 3 propeller 1041 and the No. 4 propeller 1041 can refer to the design methods of the No. 1 and No. 2 propellers, so as to realize the final stacked arrangement of the four propellers 1041 and the arms 102. The size of the folded flying device 100 is minimized.

[0081] It should be noted that Figures 6a to 6c the number of blades of the middle propeller 1041 being three is only an example, and this application is not limited thereto.

[0082] When the arm 102 is folded in the folding manner as Figure 5 shown, once a propeller guard 1021 is provided for each propeller 1041, an interference problem will occur. In this case, the volume of the folded flying device 100 is large. Therefore, when folding in the folding manner as Figure 5 shown, the propeller 1041 cannot be provided with a propeller guard 1021 to ensure that the volume of the flying device in the folded state is minimized.

[0083] Furthermore, the arm 102 can be locked in the unfolded state by a locking device, and the locking device can be detachably connected or movably connected to the fuselage 101. In a specific embodiment, the locking device can be the above-mentioned handheld gimbal 200. Of course, in some other embodiments, the locking device can be other components that can perform a locking function.

[0084] In some embodiments, as Figure 4 shown, in the unfolded state, the plurality of arms 102 are evenly arranged around the fuselage 102 of the flying device 100, so that the four arms 102 are evenly arranged around the fuselage 101, and the propellers 104 of the four arms 102 are not likely to interfere with each other, so that the blades 1041a of the propellers 104 on each arm 102 can be made as large as possible, thereby improving the flight power.

[0085] To achieve the above effects, taking a quadrotor as an example, a spatial coordinate system is defined as follows Figure 1 shown in the figure. Define: the Z-axis points upward, the X-axis points forward in the flight direction, and the Y-axis points leftward in the flight direction. The description of the spatial arrangement of the rotation axes of the arm 102 is as follows:

[0086] Figure 9a is the top view of the flying device provided by an embodiment of the present application; Figure 9b is the front view of the flying device provided by an embodiment of the present application; Figure 9c is the side view of the flying device provided by an embodiment of the present application; please refer to the attached Figure 9a attachment Figure 9b and attachment Figure 9c . Since the rotation axes of the left front, right front, left rear, and right rear arms are symmetric with respect to both the XZ plane and the YZ plane, taking the left front arm as an example;

[0087] As Figure 9a shown in the figure, along the direction perpendicular to the direction formed by the roll axis X and the pitch axis Y, that is, looking down from above perpendicular to the XY plane, the angle α between the axis of the arm rotation axis and the X-axis satisfies: 0° < α < 60°; preferably, α = 22.5°. When α is equal to 22.5°, the angle between the rotation axes of the two arms 102 is 45°, so that the angle between each arm 102 is 90°. In this way, the four arms 102 are evenly arranged around the fuselage 101. That is to say, the four arms 102 can be basically orthogonal. The so-called basic orthogonality means that the angle between two adjacent arms 102 is basically 90°, and the error range can be within ±5°

[0088] As Figure 9b shown in the figure, along the direction perpendicular to the plane formed by the roll axis X and the pitch axis Z, that is, looking from left to right perpendicular to the XZ plane, the angle β between the axis of the arm rotation axis and the X-axis satisfies: 0° < β < 90°; preferably, β = 48°

[0089] As Figure 9c shown in the figure, along the direction perpendicular to the plane formed by the pitch axis Y and the yaw axis Z, that is, looking from front to back perpendicular to the YZ plane, the angle γ between the axis of the arm rotation axis and the Y-axis satisfies: 0° < γ < 60°; preferably, γ = 23°.

[0090] Among them, the values of the angles β and γ determine whether the arms 102 can achieve the effect of folding and closing after folding. It can be understood that in the present application, the values of β and γ are not limited to the above, and those skilled in the art can determine the values of β and γ according to the actual structural design, and this embodiment does not make any limitations.

[0091] In the above embodiments, preferably, the folding direction of the arm 102 is towards the side of the flying device 100 where the handheld gimbal 200 is installed. Thus, the volume of the flying device after storage can be minimized.

[0092] In some alternative embodiments, the folding direction of the arm 102 is away from the side of the flying device 100 where the handheld gimbal 200 is installed. When the flying device 100 and the handheld gimbal 200 are in a combined state and folded in the above manner, the folded arm 102 can be used as an extension rod of the handheld gimbal 200, so as to facilitate the user to perform operations such as taking selfies at a long distance using the handheld gimbal 200. Or, when the arm 102 can be locked in the retracted state, the retracted arm 102 can be used as a tripod (or multi-legged stand) of the handheld gimbal 200 to expand the usage range of the handheld gimbal 200, so as to facilitate the user to place the handheld gimbal 200 on the ground for long-distance automatic timed shooting. Of course, it can be understood that when the retracted arm 102 is used as a tripod or multi-legged stand, the arms 102 do not fit together. For example, each arm 102 is only folded by 45°, so that when used as a tripod or multi-legged stand, its support stability is better.

[0093] In some embodiments, a drone is provided, which may include a flying device 100 and a function module. The arm 102 of the flying device 100 is rotatably connected to the fuselage 101, and the arm 102 can be folded relative to the fuselage 101 to have a retracted state and an unfolded state. In order to lock the arm 102 in the unfolded state, the arm 102 can be detachably connected to a function module and can be locked by the function module. The function module can be connected to or separated from the fuselage 101 to be in a combined state or a separated state with the flying device 100. When the function module is connected to the fuselage 101 to be in a combined state, the function module locks the arm 102 in the unfolded state.

[0094] The function module described in this embodiment means that it has certain usage functions. For example, it can take pictures, and / or, it can display images, or it can spray pesticides, etc. It can be understood as a load of a flying device. The function module can not only be used as a function module after being connected to the flying device 100 to achieve certain functions, but also be used as a fixing component to lock the arm 102 so that the arm 102 is locked in the unfolded state. By using a function module, the connection with the flying device 100 can be realized, and at the same time, the locking of the arm 102 can be realized, achieving the reuse of the mechanical structure, effectively saving the mechanical structure design, reducing the cost, and since the mechanical structure design is reduced, the overall weight is also reduced, which is beneficial to the lightweight requirement.

[0095] In some embodiments, when the functional module is separated from the fuselage 101, the functional module can be used as a functional component for independent use, thereby expanding the flexibility of use of the functional module.

[0096] It should be noted that the locking device described in the above embodiments can also be the functional module described in this embodiment. In a specific embodiment, the functional module can be the handheld gimbal 200. The following will take the functional module as the handheld gimbal 200 as an example for description.

[0097] The flying device 100 has a first connecting portion 11, and the handheld gimbal 200 has a second connecting portion 21. The first connecting portion 11 and the second connecting portion 21 can be connected to lock the flying device 100 in the unfolded state. In the state where the flying device 100 of this embodiment does not take off, it can be stored in the folded state. When taking off is required, only by docking the handheld gimbal 200 with the flying device 100, through the interaction of the first connecting portion 11 and the second connecting portion 21, the flying device 100 can be locked and thus maintained in the unfolded state. The process of connecting the handheld gimbal 200 with the flying device 100 realizes the switching of the flying device 100 from the folded state to the unfolded state, without first manually unfolding the flying device 100 and then connecting the flying device 100 with the handheld gimbal 200. Thus, the operation complexity is reduced and the operation becomes simple and convenient.

[0098] To minimize the volume of the flying device 100 after folding, please further refer to Figure 4 and Figure 5 , each arm 102 has at least two blades 1041a, and the at least two blades 1041a are respectively pivotally connected to a blade seat or a blade clip 1041b, so that the blades 1041a can be folded relative to the arm, thereby further reducing the storage volume of the flying device.

[0099] In some embodiments, when the flying device 100 is connected to the first connecting portion 11 and the second connecting portion 21, the flying device 100 can be locked in the unfolded state. Figure 7a Partial structural schematic diagram of a flying device having a first connecting portion and a first electrical connecting portion provided by an embodiment of the present application; Figure 7b Structural schematic diagram of a handheld gimbal having a second connecting portion and a second electrical connecting portion provided by an embodiment of the present application; Figure 8 Schematic diagram of the state before combination of the flying device and the handheld gimbal of an unmanned aerial vehicle provided by an embodiment of the present application; Specifically, as Figure 7aAs shown, when the flying device 100 is in the unfolded state, a receiving groove C is formed between at least two adjacent arms 102, and a locking protrusion D is provided on the handheld gimbal 200. When the first connecting portion 11 is connected to the second connecting portion 21, the locking protrusion D is snapped into the receiving groove C to lock the flying device 100 in the unfolded state.

[0100] Specifically, the locking protrusion D can be formed on the second connection part 21. Specifically, the locking protrusion D can be a block-shaped protrusion, and the protrusion height can match the groove depth of the accommodating groove C. The connection method between the first connection part 11 and the second connection part 21 includes a snap connection; one of the first connection part 11 and the second connection part 21 has a first clamping part 211, and the other of the first connection part 11 and the second connection part 21 has a first matching part 111 that matches the first clamping part 211, and the first clamping part 211 can be engaged with the first matching part 111, so that the first connection part 11 is connected to the second connection part 21.

[0101] The first clamping portion 211 is movably connected to one of the first connecting portion 11 and the second connecting portion 21, and the first clamping portion 211 can move between a locked position and a separated position; in the locked position, the first clamping portion 211 is engaged with the first matching portion 111, and the flying device 100 and the handheld gimbal 200 are in a combined state; in the separated position, the first clamping portion 211 is separated from the first matching portion 111, and the flying device 100 and the handheld gimbal 200 are in a separated state.

[0102] In a specific embodiment, the first clamping portion 211 may be a retractable clamping portion provided on the side wall of the locking protrusion D, and an elastic restoring member may be provided between the first clamping member 211 and the locking protrusion D so that the first clamping portion 211 can be elastically retractable. The first matching portion 111 may be a groove provided on the side wall of the first connecting portion 11, and the first clamping portion 211 may have a guide surface 2111 that contacts with the wall surface of the first matching portion 111, and the guide surface 2111 may be an inclined surface. During the connection between the first connecting portion 11 and the second connecting portion 21, the guide surface 2111 contacts with the groove, thereby pushing the first clamping portion 211 to retract to avoid the first matching portion 111. When the first clamping portion 211 reaches the preset locking position at the first matching portion 111, the first clamping portion 211 returns to the state of being inserted into the first matching portion 111 under the action of the elastic restoring force, thereby achieving relative locking of the two.

[0103] To unlock the first clamping portion 211 and the first mating portion 111, further, the first clamping portion 211 is connected to a driving portion 212, and the driving portion 212 is configured to receive an external driving force and drive the first clamping portion 211 to move. Specifically, the driving portion 212 may be a button provided on the second connecting portion 21. The button is drivingly connected to the first clamping portion 211. When the user presses the button, the first clamping portion 211 overcomes the action of the elastic restoring force and exits the first mating portion 111. Alternatively, the driving portion 212 may be a pull button. When the user pulls the driving portion 212 in a direction away from the first clamping portion 211, the first clamping portion 211 can be directly pulled out of the first mating portion 111.

[0104] Among them, there are also many ways for the button to drive the first clamping portion 211 to exit the first mating portion 111. Those skilled in the art can make specific designs according to actual situations, and this embodiment does not make any limitations.

[0105] One end of the handheld gimbal 200 is connected to the flying device 100, and the other end of the handheld gimbal 200 is connected to the camera module 202. In the combined state, the camera module 202 is disposed away from the flying device 100. The camera module 202 is configured to take pictures or record videos. The camera module 202 can be rotatably connected to the holding portion 201 through a three-axis stabilizer, and the three-axis stabilizer is configured to stabilize the camera module 202 to ensure the shooting quality.

[0106] A holding portion 203 is formed between the two ends of the handheld gimbal 200. The holding portion 203 may be in the shape of a long column, and its cross-sectional shape may be any shape such as circular, square, oval, runway-shaped, etc. This embodiment does not make any limitations as long as it can provide a space for the user to hold. The inside of the holding portion 203 may be a hollow structure to facilitate accommodating relevant electronic components of the handheld gimbal 200.

[0107] The unmanned aerial vehicle provided by the embodiment of the present application detachably connects the handheld gimbal to the flying device, can realize the combined state of the unmanned aerial vehicle, and can also detach the handheld gimbal from the flying device and use it alone, realizing the reuse of the unmanned aerial vehicle and the handheld gimbal. When it is necessary to use it as a drone, the flying device is connected to the handheld gimbal to achieve the combined state. When only the handheld gimbal is needed, the handheld gimbal is separately detached from the flying device, and the handheld gimbal is used to realize the hand-held shooting state. And in the use state of the unmanned aerial vehicle, the holding portion of the handheld gimbal can be held by the user to realize the hand-held takeoff and landing of the unmanned aerial vehicle, which greatly facilitates the user operation.

[0108] The unmanned aerial vehicle provided by this application can achieve hand-held takeoff and landing. The main significance of hand-held takeoff and landing is that it can make the takeoff and landing of the unmanned aerial vehicle faster and more convenient, especially when the user is in an uneven ground environment such as mountain climbing or on the beach. In this application, the arms of the unmanned aerial vehicle are located at the top of the fuselage and are far from the holding part. Therefore, when the user uses hand-held takeoff and landing, the rotation of the propellers will not hit the user's hand, and it is relatively safe to use.

[0109] To realize the connection between the flying device 100 and the hand-held gimbal 200, specifically, the flying device 100 may have a first connection part 11 and a first electrical connection part 12, and the hand-held gimbal 200 has a second connection part 21 and a second electrical connection part 22. In the combined state, the first connection part 11 is detachably connected to the second connection part 21, and the first electrical connection part 12 is docked with the second electrical connection part 22 to establish an electrical connection.

[0110] When the connection method between the flying device 100 and the hand-held gimbal 200 is snap connection, the first connection part 11 can be a snap, and the second connection part 21 can be a slot or a hole that cooperates with the snap. Or, the first connection part 11 is a slot or a snap, and the second connection part 21 is a snap that fits into the slot or the hole. When the connection method between the flying device 100 and the hand-held gimbal 200 is threaded connection, the first connection part 11 can be a protruding part with an external thread, and the second connection part 21 can be a cylindrical part with an internal thread. Or, the first connection part 11 can be a cylindrical part with an internal thread, and the second connection part 21 can be a protruding part with an external thread. Or, the first connection part 11 includes a screw hole / light hole provided on the flying device 100, and the second connection part 21 includes a light hole and / or a screw hole provided on the hand-held gimbal 200, and the two can be connected together by screws or bolts. When the flying device 100 and the hand-held gimbal 200 are connected by magnetic attraction, the first connection part 11 can include a first magnetic pole provided on the flying device 100, and the second connection part 21 includes a second magnetic pole provided on the hand-held gimbal 200. The magnetic poles of the first magnetic pole and the second magnetic pole are opposite, so that the two can attract each other, and then the hand-held gimbal 200 is stably fixed below the flying device 100.

[0111] The docking of the first electrical connection part 12 and the second electrical connection part 22 to establish an electrical connection can be that the first electrical connection part 12 is inserted into the second electrical connection part 22, or the second electrical connection part 22 is inserted into the first electrical connection part 12 to achieve an electrical connection. For example, for example, the first electrical connection part 12 is a terminal and the second electrical connection part 22 is a port, and the first electrical connection part 12 is inserted into the second electrical connection part 22. Or, the first electrical connection part 12 and the second electrical connection part 22 are in abutting contact along the docking direction, so that the two establish an electrical connection.

[0112] It should be noted that since the flying device 100 and the handheld gimbal 200 of this embodiment can be in a combined state and a separated state, a detection device can also be designed to detect whether the first electrical connection part 12 and the second electrical connection part 22 have established an electrical connection. After detecting that the first electrical connection part 12 and the second electrical connection part 22 have established an electrical connection, each component in the unmanned aerial vehicle can be controlled to work in the combined mode. When the first electrical connection part 12 and the second electrical connection part 22 have not established an electrical connection, the handheld gimbal 200 can be controlled to be in the handheld use mode.

[0113] In order to enable the handheld gimbal 200 to have a data transmission function when used alone, the handheld gimbal 200 further has a third connection part 31 and a third electrical connection part 32. The third connection part 31 is used to detachably connect to an external communication device, and the third electrical connection part 32 is used to establish an electrical connection with the external communication device to at least be able to transmit data. Among them, the external communication device can be a wireless communication module, such as a WiFi module, Bluetooth, near-field communication module, radio frequency antenna module, etc.

[0114] In the solution of this application, when the user is in the handheld shooting state, with the help of the external communication device, a complete video transmission module can be realized in the handheld shooting state. The external communication device can include the same buckles and interfaces as those on the quadcopter, and has a smaller antenna module, so as to form a complete video transmission module together with the processing unit on the handheld gimbal 200. The user can use it to realize the video transmission signal transmission or file transmission between the camera module 202 of the handheld gimbal 200 and control terminal devices such as mobile phones.

[0115] In addition, in some embodiments, such as Figure 2a 、 Figure 2b and Figure 3a 、 Figure 3bAs shown, in the combined state, the shock absorption module 24 is disposed close to the flying device 100. Specifically, the shock absorption module 24 is provided on one side of the handheld gimbal 200 close to the second connection portion 21. The shock absorption module 24 may include shock absorption balls, shock absorption blocks, etc., and the materials may include rubber materials, foam, springs, etc. In a specific embodiment, the shock absorption module 24 may include a plurality of evenly arranged shock absorption balls, and the shock absorption balls are preferably hollow balls to reduce the elastic modulus, so that the shock absorption effect of the shock absorption balls is better. The shock absorption module 24 is close to the second connection portion 21, that is to say, the shock absorption module 24 is close to the flying device 100. Compared with arranging the shock absorption module 24 at one end close to the camera module 202, this method can avoid the camera module 202 of the handheld gimbal 200 from shaking due to the flexible connection of the shock absorption module 24 during handheld shooting, and can utilize the inertia generated by the weight of the camera module 202 of the handheld gimbal 200 itself to reduce the influence of high-frequency vibration. When the flying device 100 and the handheld gimbal 200 are in the combined state, the camera module 202 can act as a counterweight block, thereby reducing the vibration of the entire unmanned aerial vehicle and improving the stability of the unmanned aerial vehicle.

[0116] In this embodiment, preferably, as Figure 2a , Figure 2b shown, the second connection portion 21 is provided at one end of the holding portion 201, and the shock absorption module 24 may be provided between the holding portion 201 and the second connection portion 21. Specifically, one side of the shock absorption module 24 may be bonded to the holding portion 201, and the other side of the shock absorption module 24 may be bonded to the surface of the second connection portion 21 facing away from the flying device 100. In this way, both sides of the shock absorption module 24 are fixed, and during use, it will not move relative to the flying device 100 or the handheld gimbal 200 to cause wear, thereby effectively ensuring the service life of the shock absorption module 24.

[0117] Of course, optionally, the shock absorption module 24 may be provided between the second connection portion 21 and the fuselage 101. Specifically, one side of the shock absorption module 24 may be fixedly connected to the surface of the second connection portion 21 facing the flying device 100, and the other side of the shock absorption module 24 may be used to abut against the fuselage 101, which can also achieve shock absorption of the unmanned aerial vehicle.

[0118] Figure 4 is a schematic structural diagram of the flying device in the unfolded state provided by an embodiment of the present application; as Figure 2a , Figure 2b , Figure 3a , Figure 3b and Figure 4As shown, in a preferred embodiment, one of the first electrical connection part 12 and the second electrical connection part 22 may include interface contacts, and the other of the first electrical connection part 12 and the second electrical connection part 22 may include interface pins; when the first connection part 11 is connected to the second connection part 21, the interface contacts contact the interface pins so that the flying device 100 establishes an electrical connection with the handheld gimbal 200. Among them, the interface contacts may be protruding contacts or recessed contacts, and the interface pins are protruding structures. When the flying device 100 and the handheld gimbal 200 are in a connected state, the first electrical connection part 12 and the second electrical connection part 22 contact each other to establish an electrical connection.

[0119] To simplify the operation, in this embodiment, when the first connection part 11 is connected to the second connection part 21, the first electrical connection part 12 and the second electrical connection part 22 immediately contact each other to establish an electrical connection. During the actual design process, the relative height and position of the first electrical connection part 12 and the second electrical connection part 22 can be specifically designed to achieve that during the process of connecting the first connection part 11 and the second connection part 21, the first electrical connection part 12 and the second electrical connection part 22 also establish an electrical connection. Thus, it is avoided that after connecting the first connection part 11 and the second connection part 21, it is also necessary to additionally connect the first electrical connection part 12 and the second electrical connection part 22, thereby simplifying the operation steps and improving the user experience.

[0120] Of course, in some other embodiments, when the first connection part 11 and the second connection part 21 are connected, the first electrical connection part 12 and the second electrical connection part 22 may not establish a connection either, but the user needs to perform an additional operation to connect the first electrical connection part 12 and the second electrical connection part 22. For example, there is an external wire on the handheld gimbal 200, and the end of the external wire has a plug, which constitutes the second electrical connection part 22, and there is a jack on the flying device 100, which constitutes the first electrical connection part 12. The user can insert the plug into the jack to achieve the electrical connection between the handheld gimbal 200 and the flying device 100.

[0121] In some embodiments, the flying device 100 and the handheld gimbal 200 can establish a power supply connection through the first electrical connection part 12 and the second electrical connection part 22, so that electric energy can be transmitted between the flying device 100 and the handheld gimbal 200. For example, the handheld gimbal 200 supplies power to the flying device 100, and / or the flying device 100 supplies power to the handheld gimbal 200.

[0122] In some embodiments, in the combined state, the flying device 100 and the handheld gimbal 200 can establish a communication connection through the first electrical connection part 12 and the second electrical connection part 22. That is to say, data can be transmitted between the flying device 100 and the handheld gimbal 200, such as image data, control data, etc.

[0123] In this embodiment, preferably, the handheld gimbal 200 may be provided with an energy supply module 23. In the combined state, the handheld gimbal 200 powers the flying device 100 through the energy supply module 23 to enter the flight mode.

[0124] Specifically, the supply device 23 may be a battery, and the energy supply module 23 may be disposed in the holding portion 203. A receiving cavity for accommodating the energy supply module 23 may be formed in the holding portion 203. The energy supply module 23 is detachably accommodated in the receiving cavity. A battery cover may be movably provided on the outer wall of the holding portion 203. The battery cover may be slidably or rotatably provided on the holding portion 203, so that the user can expose the energy supply module 23 by opening the battery cover to realize the maintenance or replacement of the energy supply module 23. When the energy supply module 23 is a rechargeable battery, it is also convenient to take out the energy supply module 23 for flexible charging.

[0125] In the flight mode, the energy supply module 23 may have the following two power supply modes. The first one: the energy supply module 23 can supply power to the camera module 202 of the handheld gimbal 200 and the flying device 100 respectively; or, in the flight mode, the energy supply module 23 supplies power to the camera module 202 of the handheld gimbal 202 and the flying device 100 in sequence. It should be noted that the flying device 100 in this embodiment may not have a separate energy supply module. It must be in the combined state and can be powered by the energy supply module 23 of the handheld gimbal 200 to constitute a complete unmanned aerial vehicle. By only setting the energy supply module 23 on the handheld gimbal 200, it can not only ensure that the handheld gimbal 200 can be used alone, but also ensure the normal use of the unmanned aerial vehicle. Moreover, the flying device 100 does not need to be used alone, and thus there is no need to set an energy supply module 23 on it, which is beneficial to cost reduction.

[0126] Figure 11 It is the electrical control schematic diagram of the image transmission module of the unmanned aerial vehicle provided by the embodiment of the present application; as Figure 11 shown, the unmanned aerial vehicle provided by the embodiment of the present application further includes an image transmission module 300. The image transmission module 300 is used for communication connection with the camera module 202. Thus, the images (pictures, videos, etc.) captured by the camera module 202 can be sent to the image transmission module 300, and the image transmission module 300 sends the captured images.

[0127] Furthermore, in the combined state, the image transmission module 300 can be communicatively connected with the camera module 202 of the handheld gimbal 200 and the control terminal 400. The control terminal 400 may be, for example, a mobile phone, a computer, a tablet, a remote controller, etc. located at the ground end. The image transmission module 300 can send the images captured by the camera module 202 to the above-mentioned control terminal 400, so that the user can view the captured images by using the control terminal 400.

[0128] Specifically, the video transmission module 300 may include a wireless communication unit 301 and a processing unit 302. The wireless communication unit 301 is disposed on the flying device 100, and the processing unit 302 is disposed on the handheld gimbal 200. The wireless communication unit 301 and the processing unit 302 communicate through the electrical connection established between the flying device 100 and the handheld gimbal 200 in the combined state.

[0129] In this embodiment, in the combined state, the flying device 100 and the handheld gimbal 200 can achieve communication connection through the first electrical connection portion 12 and the second electrical connection portion 22. The image and video data transmitted by the video transmission module 300 can be radio frequency data, and the amount of radio frequency data is small, thereby reducing the transmission pressure on the first electrical connection portion 12 and the second electrical connection portion 22. Therefore, reliable and stable fast transmission can be achieved. The wireless communication unit 301 of the video transmission module 300 is disposed on the flying device to reduce the shielding of the wireless communication unit 301, ensure its signal strength, and the communication reliability with the control terminal 400. And the processing unit 302 is disposed on the handheld gimbal 200, so that when the handheld gimbal 200 is used alone, the processing unit 302 can also process the images and video data captured by the camera module 202, without affecting the function of the handheld gimbal 200 when used alone.

[0130] In this embodiment, the processing unit 302 may include a video transmission module encoding chip and a radio frequency chip. The above-mentioned video transmission module encoding chip and radio frequency chip can both be disposed on the holding portion 201 of the handheld gimbal 200 and at one end of the holding portion 201 close to the camera module 202.

[0131] Preferably, the power supply module 23 can be disposed at one end of the handheld gimbal 200 away from the camera module 202. Thus, when the handheld gimbal 200 is connected to the flying device 100, the power supply module 23 can be as close as possible to the flying device 100 to facilitate power supply to the flying device 100, shorten the length of the wire, and the processing unit 302 can also be powered by the power supply module 23. Therefore, there are powered components on both sides of the power supply module 23, the structural arrangement is compact, and the electrical connection wire is the shortest.

[0132] In some other embodiments, the wireless communication unit 301 and the processing unit 302 may also be disposed on the flying device 100. In some other embodiments, the wireless communication unit 301 and the processing unit 302 are also disposed on the handheld gimbal 200. Thus, redundant design can be achieved, so that when one of the wireless communication units 301 and / or the processing units 302 has a problem, the video transmission function can be achieved through the other wireless communication units 301 and processing units 302.

[0133] In some other embodiments, the wireless communication unit 301 and the processing unit 302 may be provided only on the flying device 100, or the wireless communication unit 301 and the processing unit 302 may be provided only on the handheld gimbal 200.

[0134] In this embodiment, as Figure 1 shown, the wireless communication unit 301 may include a radio frequency antenna. In some other embodiments, the wireless communication unit 301 may also be WiFi, or other modules that can achieve long-distance wireless communication.

[0135] Of course, in this embodiment, the wireless communication unit 301 includes a radio frequency antenna, and the communication distance of the radio frequency antenna is far, which can achieve long-distance communication. Preferably, at least part of the radio frequency antenna is provided on the arm 102 of the flying device 100. When the unmanned aerial vehicle is flying, it needs to communicate with the control terminal 400 at the ground end, and the communication reliability requirement with the ground end is relatively high. For the flying device 100, the shielding at the arm 102 is the least. Therefore, setting the radio frequency antenna on the arm 102 can effectively reduce the signal shielding and ensure the integrity and reliability of the signal as much as possible.

[0136] Preferably, radio frequency antennas are provided on each arm 102 of the flying device 100. Since the signals emitted by each radio frequency antenna are unevenly distributed around, by setting multiple radio frequency antennas, multi-angle signal complementarity can be achieved, thereby improving the signal reliability.

[0137] Furthermore, as Figure 1 shown, the radio frequency antenna may extend along the length direction of the arm 102. The length of the arm 102 may be equal to the length of the radio frequency antenna. The longer the radio frequency antenna is, the wider the signal coverage range is and the better the signal reliability is. Of course, in some other embodiments, the length of the radio frequency antenna may also be less than the length of the arm 102.

[0138] In some other embodiments, the radio frequency antennas may also be centrally arranged on the handheld gimbal 200; or, centrally arranged on the flying device 100; or, radio frequency antennas are provided on both the arm 101 and the fuselage of the handheld gimbal 200 to enable redundant transmission. The arm 102 of this embodiment may be a hollow rod shape, and there may be an opening along the length direction on the arm 102 to facilitate the installation of the radio frequency antenna. Or, the arm 102 may be a solid rod shape, and the radio frequency antenna may be attached to the outer surface of the arm 102, or detachably fixed to the surface of the arm 102 by fasteners. This application is not limited thereto.

[0139] Figure 12 This is the electrical control schematic diagram of the flight control module and the power system of the unmanned aerial vehicle provided by the embodiment of the present application. As Figure 12As shown, in some embodiments, the flying device 100 may include a flight control module 103 and a power system 104. The flight control module 103 is used for communication connection with the power system 104, and the flight control module 103 is used to control the power output of the power system 104. Since the flying device 100 has a power supply only after establishing an electrical connection with the handheld gimbal 200, the flight control module 103 and the power system 104 are communicatively connected and communicate only when the flying device 100 and the handheld gimbal 200 are in a combined state.

[0140] In this embodiment, the power system 104 is mainly used to drive the propeller 1041 to rotate to provide power for the flying device during flight. The flight control module 103 controls the rotation speed and / or direction of each propeller 1041, thereby realizing the switching of multiple flight modes of the unmanned aerial vehicle.

[0141] Further, please refer to the attached Figure 3a , Figure 3b , Figure 4 and the attached Figure 12 , the power system 104 of this embodiment includes: a propeller 1041, a motor 1042, and an electronic speed controller 1043.

[0142] Specifically, the output shaft of the motor 1042 may be fixedly connected to the propeller 1041 for driving the propeller 1041 to rotate. Specifically, each propeller 1041 may include at least two blades 1041a, and a hub or clip 1041b connecting the at least two blades 1041a. The output shaft of the motor 1042 may be connected to the center of the hub or clip 1041b.

[0143] The flight control module 103 is used for communication connection with the electronic speed controller 1043, and the electronic speed controller 1043 is electrically connected to the motor 1042. The electronic speed controller 1043 is used to control the rotation speed and / or direction of the motor 1042 according to the control signal sent by the flight control module 103. For the control signal sent by the flight control module 103, the flight control module 103 may be communicatively connected to the control terminal 400 at the ground end, so that the control terminal 400 at the ground end can send control information to the flight control module 103, causing the flight control module 103 to send control instructions to each electronic speed controller 1043, and causing each electronic speed controller 1043 to control the rotation speed and / or direction of the motor 1042 corresponding to each propeller 1041 respectively.

[0144] Please refer to the attached Figure 12, the unmanned aerial vehicle provided by this application may further include an obstacle avoidance module 105. The obstacle avoidance module 105 can be at least used to detect obstacle information in the flight direction. The obstacle avoidance module 105 and the flight control module 103 can be respectively communicatively connected to the control terminal 400. The obstacle avoidance module 105 is used to send the obstacle information to the control terminal 400, so that the control terminal 400 determines flight control information according to the obstacle information, and sends the determined flight control information to the flight control module 103. Furthermore, the flight control module 103 can send flight control information for dealing with obstacles according to the obstacle information. Based on this solution, the user can send corresponding flight control information through the control terminal 400 according to the obstacle information detected by the obstacle avoidance module 105, so that the flight control module 103 controls the flight mode of the unmanned aerial vehicle to avoid obstacles, thereby realizing obstacle avoidance with human-in-the-loop, improving the use safety of the unmanned aerial vehicle, and enhancing the user experience.

[0145] In this embodiment, the obstacle avoidance module 105 can be arranged on the flight device 100 and / or the handheld gimbal 200. In this embodiment, the obstacle avoidance module 105 can include one or more. In some embodiments, the obstacle avoidance module 105 is arranged on the handheld gimbal, and the obstacle avoidance module 105 is fixedly or movably arranged on the holding part 201, and the obstacle avoidance module 105 always faces the flight direction of the flight device 100. It should be noted that the obstacle avoidance module 105 always facing the flight direction of the flight device 100 means that the shooting direction or signal emission direction of the obstacle avoidance module 105 always faces the flight direction of the flight device 100. Whether flying forward or backward, reliable obstacle avoidance of the obstacle avoidance module 105 can be achieved.

[0146] When the obstacle avoidance module 105 is movably arranged on the holding part 201, the obstacle avoidance module 105 can be driven to rotate so that the shooting direction or signal emission direction of the obstacle avoidance module 105 always faces the flight direction of the flight device 100.

[0147] In this embodiment, preferably, the obstacle avoidance module 105 can be an obstacle avoidance camera. The volume of the obstacle avoidance camera is small, which is very suitable for application at the handheld gimbal 200. Of course, in some other embodiments, the obstacle avoidance module 105 can be replaced by an obstacle avoidance module with a larger volume such as a lidar, for example, a flash lidar, a single-point lidar, an ultrasonic radar, etc.

[0148] In an optional embodiment, there are multiple obstacle avoidance modules 105, and the multiple obstacle avoidance modules 105 can also be provided at the ends of the arms 102 of the flying device 100. The obstacle avoidance modules 105 are provided at the ends of the arms 102, with less occlusion, making it easier to detect surrounding obstacles. Further, one obstacle avoidance module 105 can be provided at the end of each arm 102, and the signal transceiver directions of the obstacle avoidance modules 105 on each arm 102 are arranged staggered up and down, so that the multiple obstacle avoidance modules form 360° omnidirectional obstacle avoidance. The signal transceiver directions of the obstacle avoidance modules 105 on each arm 102 are arranged staggered up and down to form an omnidirectional fisheye obstacle avoidance. When there are four arms 102, there are correspondingly four obstacle avoidance modules 105, and the four obstacle avoidance modules 105 can form six binocular systems, and the six binocular systems further achieve 360° omnidirectional obstacle avoidance.

[0149] To further improve the user experience, in some embodiments, the holding part 201 further has a display module 106, and the display module 106 is communicatively connected to the camera module 202 of the handheld gimbal 200. In this embodiment, the display module 106 can be a display screen, and the display module 106 is used to display the image screen captured by the camera module 202. When the handheld gimbal 200 is used alone, the user can view the captured picture through the display module 106 on the handheld gimbal 200.

[0150] Further, the unmanned aerial vehicle of this embodiment further includes a positioning module 107. The positioning module 107 is used to determine the relative position of the flying device 100 relative to the ground, and further determine the flight trajectory of the flying device 100. The positioning module 107 and the control terminal 400 can be communicatively connected to send the flight trajectory information to the control terminal 400. The positioning module 107 can be provided on the arm 102 of the flying device 100 to reduce occlusion. The positioning module 107 can be a camera, and the orientation of the camera can be downward to position the unmanned aerial vehicle relative to the ground. Through the setting of the positioning module 107, the unmanned aerial vehicle can be accurately positioned, and the user can accurately observe the current position of the unmanned aerial vehicle.

[0151] To make the picture captured by the camera module 202 clear, the holding part 201 can be rotatably connected to the camera module 202 of the handheld gimbal 200 through a first axis assembly M1, a second axis assembly M2, and a third axis assembly M3 to achieve the effect of a three-axis stabilizer.

[0152] In some embodiments, as Figure 3a 、 Figure 3b shown, the first axis assembly M1 includes a first rotating shaft M11 and a first connecting arm M12. One end of the first connecting arm M12 is pivotally connected to the holding part 201 through the first rotating shaft M11, and the first rotating shaft M11 is parallel to the yaw axis of the unmanned aerial vehicle.

[0153] The second-axis assembly M2 includes a second rotating shaft M21 and a second connecting arm M22. The other end of the first connecting arm M11 is fixedly connected to one end of the second connecting arm M22. The other end of the second connecting arm M22 is pivotally connected to the second rotating shaft M21. The second rotating shaft M21 is parallel to the pitch axis of the unmanned aerial vehicle.

[0154] The third-axis assembly M3 includes a third rotating shaft (not shown in the figure, located at Figure 3a 、 Figure 3b the rear end of the camera module 202 in

[0155] and a third connecting arm M32. One end of the third connecting arm M32 is pivotally connected to the second rotating shaft. The other end of the third connecting arm M32 and the camera module 202 are pivotally connected through the third rotating shaft. The third rotating shaft is parallel to the roll axis of the unmanned aerial vehicle.

[0156] Through the above setting method, a yaw-pitch-roll configuration is formed. The end close to the camera module 202 is the roll axis, which controls the roll; the end close to the holding part 201 is the yaw axis, which controls the deflection; and the pitch axis is between the two, which controls the pitch. Among them, the roll axis has a controllable rotation range of more than ±100°, and can rotate 90° to realize the switching between horizontal and vertical shooting of the camera screen; while the yaw axis has a controllable rotation range of more than ±270°. When the obstacle avoidance module 105 is arranged on the holding part 201, the obstacle avoidance module 105 can rotate with the rotation of the yaw axis, so that the obstacle avoidance module 105 is always oriented in the direction of the horizontal component of the flight speed vector of the unmanned aerial vehicle, that is, always oriented in the flight direction of the unmanned aerial vehicle when the unmanned aerial vehicle is flying horizontally or nearly horizontally. Therefore, the obstacle avoidance module 105 can always detect obstacles in the flight direction, so as to realize reliable obstacle avoidance in the flight direction of the unmanned aerial vehicle.

[0156] The design method of the three-axis stabilizer provided in this embodiment enables the handheld gimbal 200 to realize the switching between horizontal and vertical shooting of the camera module 202, and the gimbal has the largest deflection range, and the yaw axis has a controllable rotation range of more than ±270°, that is, it has a rotation range of more than one week.

[0157] Of course, in some other embodiments, for example, a yaw-roll-pitch configuration that cannot realize the switching between horizontal and vertical shooting, or roll-yaw-pitch, roll-pitch-yaw, pitch-roll-yaw, pitch-yaw-roll that cannot make the gimbal deflect more than one week, and the scheme of changing the gimbal configuration without changing the overall layout should also be regarded as an alternative scheme of this application.

[0158] Figure 10a It is a schematic diagram of the state of the unmanned aerial vehicle provided in an embodiment of the present application before the landing gear is installed; Figure 10bSchematic diagram of the state of an unmanned aerial vehicle equipped with a landing gear provided by an embodiment of the present application; on the basis of any of the above embodiments, further, as Figure 10a and Figure 10b shown, the camera module 202 can be rotatably connected to the holding part 201 through the first axis assembly M1. The unmanned aerial vehicle can include a landing gear 500, and the landing gear 500 can be provided on the handheld gimbal 200. Preferably, the landing gear 500 can be detachably connected to the first axis assembly M1 so that the landing gear 500 can be detached from the handheld gimbal 200 to adapt to different application scenarios.

[0159] Since the camera module 202 is rotatably connected to the holding part 201 at least through the first axis assembly M1, and the landing gear 500 is fixed to the first axis assembly M1, during the rotation of the camera module 202 around the first axis assembly M1, the landing gear 500 can follow the rotation of the first axis assembly M1, that is, rotate with the camera module 202. Therefore, during the rotation of the gimbal, the landing gear 500 will not block the field of view of the camera module 202.

[0160] In some other embodiments, the landing gear 500 can be connected to the holding part 201 of the handheld gimbal 200. The landing gear 500 can be detachably connected to the holding part 201 of the handheld gimbal 200 to facilitate the detachment of the landing gear 500 from the handheld gimbal 200 to adapt to different usage scenarios.

[0161] Regarding the connection method between the landing gear 500 and the first axis assembly M1, specifically, the landing gear 500 can be connected to the motor housing of the first axis assembly M1 of the gimbal through a buckle. As Figure 9a shown, the landing gear 500 can be inserted laterally into the motor housing and can rotate with the first rotating shaft M11, that is, rotate with the camera module 202. Thus, when the camera module 202 rotates, the landing gear 500 will not block the field of view of the camera module 202.

[0162] By providing the landing gear 500, the unmanned aerial vehicle can also take off and land through the landing gear 500. Moreover, the detachable connection between the landing gear 500 and the handheld gimbal 200 enables the user to switch the take-off and landing modes according to their own needs. For example, it can take off and land through the landing gear 500, or hold the holding part 201 of the handheld gimbal 200 to achieve holding take-off and landing, improving the flexibility of the whole machine.

[0163] In some embodiments, the landing gear 500 of the unmanned aerial vehicle can include a retracted state and a lowered state; in the retracted state, the landing gear 500 at least avoids the shooting angle of the camera module of the handheld gimbal; in the lowered state, the landing gear 500 is lower than the camera module 202. The landing gear 500 can move relative to the handheld gimbal 200, and in the retracted state (for exampleFigure 9b The thick dashed line in the middle) and the lowered state (e.g. Figure 9b It should be noted that the so-called retracted state refers to a state in which the landing gear 500 avoids the shooting angle of the camera module 202, and the lowered state refers to a state in which the landing gear 500 is lowered to support the entire unmanned aerial vehicle.

[0164] Specifically, there are many ways to implement the storage and lowering of the landing gear 500, for example, there are the following ways:

[0165] In some embodiments, the landing gear 500 can be integrally connected to the handheld gimbal 200 so as to be rotatably connected. In this way, the landing gear 500 can be folded relative to the handheld gimbal 200 and retracted upward to a retracted state, or rotated to a lowered state.

[0166] Optionally, in some embodiments, the landing gear 500 can be integrally connected to the handheld gimbal 200 in a sliding direction, and the sliding direction of the landing gear 500 is consistent with the length direction of the handheld gimbal 200. Alternatively, in some embodiments, the landing gear 500 includes at least two sections of support rods hinged to each other; the landing gear 500 includes at least two sections of support rods slidably connected to each other. In the above two embodiments, the landing gear 500 is retracted and can also be switched between a retracted state and a lowered state. It is worth noting that the retracting direction of the landing gear 500 provided in the embodiment of the present application is the direction away from the camera module 202 of the handheld gimbal 200.

[0167] The landing gear 500 provided in the above embodiment can be automatically or controlled to be lowered when the unmanned aerial vehicle lands to protect the camera module 202. When the unmanned aerial vehicle is in flight, the landing gear 500 can be automatically or controlled to be retracted to avoid affecting the shooting angle of the camera module 202 during the flight.

[0168] It should be noted that when the length of the landing gear 500 is long enough and when the landing gear 500 can be folded in a direction away from the camera module 202 , the landing gear 500 can be used as a tripod or an extension rod of the handheld gimbal 200 .

[0169] In some embodiments, a landing gear drive module (not shown) is further included, and the landing gear drive module is used to drive the landing gear 500 to move so that the landing gear 500 switches between the retracted state and the retracted state. For example, when the movement mode of the landing gear 500 is rotation, the landing gear drive module may include a rotary motor, and when the movement mode of the landing gear 500 is extension or retraction, the landing gear drive module may include a linear motor.

[0170] Further, based on the above embodiments, a running state monitoring device (not shown in the figure) may also be included. The running state monitoring device may be electrically connected to the landing gear driving module to monitor the running state information of the unmanned aerial vehicle and send the running state information to the landing gear driving module, so that the landing gear driving module drives the landing gear 500 to move according to the running state information. The unmanned aerial vehicle is equipped with an energy supply module such as a battery to supply power to the electrical components of the unmanned aerial vehicle. The running state information includes the power information of the battery and / or the temperature information of the battery. In this embodiment, when it is detected that the unmanned aerial vehicle is in a low power state, or the battery temperature is higher than a predetermined value, etc., the landing gear driving module may drive the landing gear 500 to automatically lower to a lowered state to prepare for landing on the ground, so as to avoid damage to the camera module 202 caused by collision during the landing process.

[0171] In some alternative embodiments, the landing gear driving module may also be communicatively connected to the control terminal 400. The landing gear driving module is used to control the driving of the landing gear 500 to move according to the control instruction sent by the control terminal 400. When the unmanned aerial vehicle executes the return command preset in the program, it can be triggered by the user to trigger the return and landing commands of the control terminal. For example, when the height of the unmanned aerial vehicle is at a preset distance from the lower / front, to avoid damage to the lens caused by collision, the user can actively trigger a control instruction to make the landing gear 500 automatically lower. Or, the user can trigger a control instruction according to the flight plan before the unmanned aerial vehicle lands to make the landing gear driving module drive the landing gear 500 to automatically lower to achieve a safe emergency landing.

[0172] In some embodiments, a flight kit is also provided, including a flight device 100 and a handheld gimbal 200; the working modes of the flight device 100 and the handheld gimbal 200 include a flight mode and a handheld mode. The so-called flight mode means that the current unmanned aerial vehicle has a takeoff function and can be triggered to take off at any time, while the handheld mode means that the current unmanned aerial vehicle loses the takeoff ability and is similar to a handheld gimbal. In the flight mode and the handheld mode, the flight device 100 and the handheld gimbal 200 can always be mechanically connected together, or in the flight mode, the flight device 100 and the handheld gimbal 200 are mechanically connected together, while in the handheld mode, the flight device 100 is separated from the handheld gimbal 200.

[0173] There may be at least one operation module on the handheld gimbal 200. When the flight device 100 and the handheld gimbal 200 are in a combined state, the at least one operation module is used to obtain the user's operation and determine the working mode of the flight kit according to the user operation. Among them, the user's operation may be a single click, a double click, a slide, etc.

[0174] The functions of the operation module when operating in flight mode may be different from those in hand-held mode. Specifically, the operation module includes at least one of the following: buttons, display screens, knobs, and joysticks. The user can operate the above operation module to trigger the corresponding functions of the flight kit. When the flight kit is in flight mode and hand-held mode, the same operation module can correspond to different functions, so as to save the settings of the operation module and help reduce costs.

[0175] In this embodiment, the hand-held gimbal 200 can establish an electrical connection with the flying device 100 to be in flight mode; and / or, the hand-held gimbal 200 can disconnect the electrical connection with the flying device 100 to be in hand-held mode.

[0176] The flying device 100 may have a first electrical connection part 12, and the hand-held gimbal 200 has a second electrical connection part 22. The first electrical connection part 12 and the second electrical connection part 22 can be docked to establish an electrical connection between the flying device 100 and the hand-held gimbal 200. The first electrical connection part 12 and the second electrical connection part 22 in this embodiment may adopt the first electrical connection part 12 and the second electrical connection part 22 in the above embodiment, and their specific structures and functions can refer to the description of the above embodiment, which will not be elaborated in this embodiment.

[0177] In some embodiments, a detection module is further included. The detection module can be disposed on the hand-held gimbal 200 and is electrically connected to the second electrical connection part 22 and the operation module respectively. The detection module can be used to detect the electrical connection state of the second electrical connection part 22 to judge the working mode of the flight kit. For example, when it is detected that there is current passing through the second electrical connection part 22, it can be determined that the flying device 100 and the hand-held gimbal 200 have established an electrical connection and are in flight mode. When it is not detected that there is current passing through the second electrical connection part 22, it can be determined that the flying device 100 and the hand-held gimbal 200 have not established an electrical connection and are in hand-held mode.

[0178] Furthermore, a control module may be further included. The control module can be communicatively connected to the operation module; in flight mode, when the operation module is triggered by different triggering methods, the control module controls the unmanned aerial vehicle to operate in different ways. When the flying device 100 and the hand-held gimbal 200 are in flight mode, the user can operate the operation module in different operation methods to achieve different controls over the unmanned aerial vehicle.

[0179] Specifically, in some embodiments, in the flight mode, when the operation module is triggered by the first triggering method, the control module controls the flight kit to take off. For example, when the display screen on the handheld gimbal 200 is the operation module, the first triggering method can be an upward sliding gesture triggered on the display screen of the handheld gimbal 200. When the system recognizes this sliding gesture, the control module can send a control signal to the flight control module 103, and the flight control module 103 controls the power system 104 to act, so that the propeller 1041 rotates, and the unmanned aerial vehicle can take off. Of course, in some other embodiments, the first triggering method can be a click or other predetermined gestures. The present application does not make a limitation. Of course, in some embodiments, to trigger the flight kit to take off, the operation module can also be a button, and correspondingly, the first triggering method can be pressing the button.

[0180] In some embodiments, in the flight mode, when the operation module is triggered by the second triggering method, the control module controls the handheld gimbal 200 to take pictures or controls the gimbal rotation of the handheld gimbal 200. For example, when the display screen on the handheld gimbal 200 is the operation module, the first triggering method can be clicking a preset shooting icon on the display screen to trigger the handheld gimbal 200 to take pictures.

[0181] In some embodiments, in the handheld mode, when the operation module is triggered by the third triggering method, the control module controls the handheld gimbal to take pictures or controls the gimbal rotation of the handheld gimbal. When the display screen on the handheld gimbal 200 is the operation module, the third triggering method can be double-clicking the preset shooting icon on the display screen to trigger the handheld gimbal 200 to take pictures in the handheld mode.

[0182] Based on the above, in a specific application scenario, after the user connects the handheld gimbal 200 to the flight device 100, the user can first perform ground shooting (selfie, etc.) on the ground, and then trigger the unmanned aerial vehicle to fly, so as to enter the flight mode, realizing seamless connection of two shooting effects.

[0183] It should be noted that in the above two different working modes, the power supply link is also different. Specifically, the handheld gimbal 200 has an energy supply module 23, and the flight device 100 is powered by the energy supply module 23 of the handheld gimbal 200.

[0184] In the flight mode, the energy supply module 23 can respectively supply power to the flight device 100 and the camera module 202 of the handheld gimbal 200 to realize a dual power supply circuit. In some alternative embodiments, in the flight mode, the energy supply module 23 can sequentially supply power to the camera module 202 of the handheld gimbal 200 and the flight device 101 to realize a single-loop power supply. And when the unmanned aerial vehicle is in the handheld mode, the energy supply module 23 can supply power to the handheld gimbal 200 at most.

[0185] In some embodiments, the power supply module 23 itself can also recognize that after the flying device 100 establishes an electrical connection with the handheld gimbal 200, it triggers the conduction of the power-on circuit. Some embodiments of the present application also provide a flying device for cooperating with the above-mentioned handheld gimbal. It includes: a fuselage 101 for detachably connecting with the handheld gimbal 200. The flying device 100 can be connected to or separated from the handheld gimbal 200 to be in a combined state or a separated state. In the combined state, the handheld gimbal 200 protrudes from the flying device 100 and forms an unmanned aerial vehicle. One end of the handheld gimbal 200 is connected to the flying device 100, and the holding part 201 of the handheld gimbal 200 is arranged away from the flying device 100 so that the holding part 201 can be held by the user, thereby realizing the hand-held takeoff and landing of the unmanned aerial vehicle; in the separated state, the handheld gimbal 200 can be used alone. Some embodiments of the present application also provide a flying device. The flying device includes a fuselage 101 and an arm 102. The fuselage 101 can be detachably connected to a functional module; the arm 102 is rotatably connected to the fuselage so that the arm 102 has a retracted state and an extended state; the functional module can be connected to or separated from the fuselage to be in a combined state or a separated state; when the functional module is connected to the fuselage and in the combined state, the functional module can lock the arm 102 in the extended state. In some embodiments, the above-mentioned functional module can be the above-mentioned handheld gimbal 200, or other functional modules.

[0186] The functional module can have a first fixing part. When the flying device 100 is in the extended state, a first matching part is formed between at least two adjacent arms 102; in the combined state, the first fixing part can cooperate with the first matching part to fix at least two adjacent arms 102. Taking the handheld gimbal 200 as an example, in some embodiments, the flying device 100 can have a first connection part 11 and a first electrical connection part 12, and the handheld gimbal 200 has a second connection part 21 and a second electrical connection part 22. In the combined state, the first connection part 11 is detachably connected to the second connection part 21, and the first electrical connection part 12 is docked with the second electrical connection part 22 to establish an electrical connection.

[0187] In some embodiments, in the combined state, the flying device 100 and the handheld gimbal 200 establish a power supply connection through the first electrical connection part 12 and the second electrical connection part 22; and / or, in the combined state, the flying device 100 and the handheld gimbal 200 establish a communication connection through the first electrical connection part 12 and the second electrical connection part 22.

[0188] In some embodiments, the handheld gimbal 200 is provided with a power supply module 23. In the combined state, the handheld gimbal 200 supplies power to the flying device 100 through the power supply module 23.

[0189] In some embodiments, a receiving cavity for accommodating the energy supply module 23 is provided in the holding part 201, and the energy supply module 23 is detachably accommodated in the receiving cavity.

[0190] In some embodiments, one of the first electrical connection part 21 and the second electrical connection part 22 includes interface contacts, and the other of the first electrical connection part 21 and the second electrical connection part 22 includes interface pins; when the first connection part 11 is connected to the second connection part 21, the interface contacts contact the interface pins, so that the flying device 100 establishes an electrical connection with the handheld gimbal 200.

[0191] In some embodiments, a video transmission module 300 is further included. The handheld gimbal 200 includes a camera module 202, and the video transmission module 300 is used for communication connection with the camera module 202.

[0192] In some embodiments, in the combined state, the video transmission module 300 is communicatively connected to the camera module 202 of the handheld gimbal 200 and the control terminal 400.

[0193] In some embodiments, the video transmission module 300 includes a wireless communication unit 301 and a processing unit 302. The wireless communication unit 301 is provided on the flying device 100, and the processing unit 302 is provided on the handheld gimbal. The wireless communication unit 301 and the processing unit 302 communicate through the electrical connection established between the flying device 100 and the handheld gimbal 200 in the combined state.

[0194] In some embodiments, the flying device 100 includes a fuselage 101 and arms 102. When the unmanned aerial vehicle is in a flying state, a plurality of arms 102 are arranged around the fuselage 101.

[0195] In some embodiments, the wireless communication unit 301 includes a radio frequency antenna, and at least a part of the radio frequency antenna is provided on the arm 102 of the flying device 100. Radio frequency antennas are provided on each of the arms 102 of the flying device 100. The radio frequency antenna can extend along the length direction of the arm 102.

[0196] In some embodiments, the flying device 100 includes a flight control module 103 and a power system 104. The flight control module 103 is used for communication connection with the power system 104, and the flight control module 103 is used for controlling the power output of the power system 104.

[0197] In some embodiments, the power system 104 includes: a propeller 1041, a motor 1042, and an electronic speed controller 1043.

[0198] The output shaft of the motor 1042 is fixedly connected to the propeller 1041 for driving the propeller 1041 to rotate; the flight control module 103 is communicatively connected to the electronic speed controller 1043, and the electronic speed controller 1043 is electrically connected to the motor 1042. The electronic speed controller 1043 is used to control the speed and / or steering of the motor 1042 according to the control signal sent by the flight control module 103.

[0199] In some embodiments, an obstacle avoidance module 105 is further included. The obstacle avoidance module 105 is at least used to detect obstacle information in the flight direction. The obstacle avoidance module 105 and the flight control module 103 are respectively communicatively connected to the control terminal 400. The obstacle avoidance module 105 is used to send the obstacle information to the control terminal 400, so that the control terminal determines flight control information according to the obstacle information and sends the determined flight control information to the flight control module 103.

[0200] In some embodiments, the obstacle avoidance module 105 is disposed on the flying device 100 and / or the handheld gimbal 200.

[0201] In some embodiments, the obstacle avoidance module 105 is disposed on the handheld gimbal 200, and the obstacle avoidance module 105 is disposed on the holding part 201 and always faces the flight direction of the flying device 100;

[0202] In some embodiments, the obstacle avoidance module 105 is disposed at the end of the arm 102 of the flying device 100.

[0203] In some embodiments, an obstacle avoidance module 105 is disposed at the end of each arm 102, and the signal transceiver directions of the obstacle avoidance modules 105 on the respective arms 102 are arranged staggered up and down, so that the multiple obstacle avoidance modules 105 form 360° omnidirectional obstacle avoidance.

[0204] In some embodiments, the holding part 201 is provided with a display module 106, and the display module 106 is communicatively connected to the camera module 202 of the handheld gimbal 200.

[0205] In some embodiments, a positioning module 107 is further included. The positioning module 107 is used to determine the relative position of the flying device relative to the ground, and further determine the flight trajectory of the flying device 100. The positioning module 107 is communicatively connected to the control terminal 400 to send the flight trajectory information to the control terminal 400.

[0206] In some embodiments, the positioning module 107 is disposed on the arm 102 of the flying device 100.

[0207] In some embodiments, the holding part 201 is rotatably connected to the camera module 202 of the handheld gimbal 200 through a first shaft assembly M1, a second shaft assembly M2, and a third shaft assembly M3.

[0208] In some embodiments, the first shaft assembly M1 includes a first rotating shaft M11 and a first connecting arm M12. One end of the first connecting arm M12 is pivotally connected to the holding portion 201 through the first rotating shaft M11, and the first rotating shaft M11 is parallel to the yaw axis of the unmanned aerial vehicle.

[0209] The second shaft assembly M2 includes a second rotating shaft M21 and a second connecting arm M22. The other end of the first connecting arm M12 is fixedly connected to one end of the second connecting arm M22, and the other end of the second connecting arm M22 is pivotally connected to the second rotating shaft M21. The second rotating shaft M21 is parallel to the pitch axis of the unmanned aerial vehicle.

[0210] The third shaft assembly M3 includes a third rotating shaft M31 and a third connecting arm M32. One end of the third connecting arm M32 is pivotally connected to the second rotating shaft M21, and the other end of the third connecting arm M32 and the camera module 202 are pivotally connected through the third rotating shaft M31. The third rotating shaft M31 is parallel to the roll axis of the unmanned aerial vehicle.

[0211] In some embodiments, the camera module 202 is rotatably connected to the holding portion 201 through the first shaft assembly M1. The unmanned aerial vehicle includes a landing gear 500, and the landing gear 500 is detachably connected to the first shaft assembly M1 so that the landing gear 500 rotates with the first shaft assembly M1.

[0212] In some embodiments, the flying device 100 has a fuselage 101 and a plurality of arms 102. The plurality of arms 102 are rotatably connected to the fuselage 101 so that the flying device 100 has a retracted state and an unfolded state.

[0213] In some embodiments, in the retracted state, the plurality of arms 102 are substantially parallel.

[0214] And / or, in the unfolded state, the plurality of arms 102 are evenly arranged around the fuselage 101 of the flying device 100.

[0215] In some embodiments, the flying device 100 has a first connecting portion 11, and the handheld gimbal 200 has a second connecting portion 21. The first connecting portion 11 and the second connecting portion 21 can be connected to lock the flying device in the unfolded state.

[0216] In some embodiments, one end of the arm 102 away from the fuselage has a propeller blade 1051a, as well as a propeller seat and a propeller clamp 1041b. The power system includes a motor 1042, and the motor 1042 is fixedly connected to the propeller seat or the propeller clamp 1041b to drive the propeller seat or the propeller clamp 1041b to rotate, thereby driving the propeller blade 1041a to rotate.

[0217] In some embodiments, each arm 102 has at least two blades 1041a. The at least two blades 1041a are respectively pivotally connected to a blade base or blade clamp 1041b, enabling the blades 1041a to fold relative to the arm 102. When the flying device 100 is in the deployed state, a receiving groove C is formed between at least two adjacent arms 102. There is a locking protrusion D on the handheld gimbal 200. When the first connecting portion 11 is connected to the second connecting portion 21, the locking protrusion D snaps into the receiving groove C to lock the flying device 100 in the deployed state. The locking protrusion D is formed on the second connecting portion 21.

[0218] As Figure 4 and Figure 7a shown, the arm 102 may have a first contact surface S1 for contacting the locking protrusion D. In the deployed state, the first contact surface S1 abuts against the locking protrusion D. The handheld gimbal 200 has a body. The locking protrusion D is provided on the handheld gimbal 200. The arm 102 has a second contact surface S2 for contacting the handheld gimbal 200. In the deployed state, the second contact surface S2 abuts against the handheld gimbal 200.

[0219] In some embodiments, the connection manner between the first connecting portion 11 and the second connecting portion 21 includes at least one of the following: threaded connection, snap connection, and magnetic attraction.

[0220] In some embodiments, the connection manner between the first connecting portion 11 and the second connecting portion 21 includes snap connection; one of the first connecting portion 11 and the second connecting portion 21 has a first clamping portion 211, and the other of the first connecting portion 11 and the second connecting portion 21 has a first mating portion 111 that cooperates with the first clamping portion 211. The first clamping portion 211 can be engaged with the first mating portion 111 to connect the first connecting portion 11 and the second connecting portion 21.

[0221] The first clamping portion 211 is movably connected to one of the first connecting portion 11 and the second connecting portion 21, and the first clamping portion 211 can move between a locked position and a separated position; in the locked position, the first clamping portion 211 is engaged with the first mating portion 111, and the flying device 100 and the handheld gimbal 200 are in a combined state; in the separated position, the first clamping portion 211 is separated from the first mating portion 111, and the flying device 100 and the handheld gimbal 200 are in a separated state.

[0222] In some embodiments, the first clamping portion 211 is connected to a driving portion 212, and the driving portion 212 is used to receive an external driving force and drive the first clamping portion 211 to move.

[0223] In some embodiments, a shock absorption module 24 is provided on one side of the handheld gimbal 200 close to the second connection part 21. The second connection part 21 is provided at one end of the holding part 201, and the shock absorption module 24 is provided between the holding part 201 and the second connection part 21. The shock absorption module 24 is provided between the second connection part 21 and the fuselage 101.

[0224] In some embodiments, the handheld gimbal 200 further has a third connection part 31 and a third electrical connection part 32. The third connection part 31 is used for detachably connecting with an external communication device, and the third electrical connection part 32 is used for establishing an electrical connection with the external communication device to at least be able to transmit data.

[0225] In some embodiments, a handheld gimbal 200 is provided. The handheld gimbal 200 is used for connecting with a flying device 100. The working modes between the flying device 100 and the handheld gimbal 200 include a flying mode and a handheld mode;

[0226] An operation module is provided on the handheld gimbal 200. The operation module is used for identifying a preset operation instruction to determine the working mode of the unmanned aerial vehicle;

[0227] The function of the operation module in the flying mode is different from that in the handheld mode.

[0228] In some embodiments, a flying device 100 is provided. The flying device 100 is used for connecting with a handheld gimbal 200. The working modes between the flying device 100 and the handheld gimbal 200 include a flying mode and a handheld mode;

[0229] An operation module is provided on the handheld gimbal 200. The operation module is used for identifying a preset operation instruction to determine the working mode of the unmanned aerial vehicle;

[0230] The function of the operation module in the flying mode is different from that in the handheld mode.

[0231] In some embodiments, the handheld gimbal 200 can establish an electrical connection with the flying device 100 to be in the flying mode;

[0232] And / or, the handheld gimbal 200 can disconnect the electrical connection with the flying device 100 to be in the handheld mode.

[0233] In some embodiments, the flying device 100 has a first electrical connection part 12, and the handheld gimbal 200 has a second electrical connection part 22. The first electrical connection part 12 and the second electrical connection part 22 can be docked to establish an electrical connection between the flying device and the handheld gimbal.

[0234] In some embodiments, a detection module is further included. The detection module is electrically connected to the second electrical connection part 22 and the operation module respectively. The detection module is configured to detect the electrical connection state of the second electrical connection part 22 to determine the working mode of the unmanned aerial vehicle.

[0235] In some embodiments, the operation module includes at least one of the following: a button, a display screen, a knob, and a rocker.

[0236] In some embodiments, a control module is further included. The control module is communicatively connected to the operation module; in the flight mode, when the operation module is triggered by different triggering methods, the control module controls the unmanned aerial vehicle to operate in different ways.

[0237] In some embodiments, in the flight mode, when the operation module is triggered by the first triggering method, the control module controls the flight kit to take off.

[0238] In some embodiments, in the flight mode, when the operation module is triggered by the second triggering method, the control module controls the handheld gimbal 200 to take pictures or controls the gimbal rotation of the handheld gimbal 200.

[0239] In some embodiments, in the handheld mode, when the operation module is triggered by the third triggering method, the control module controls the handheld gimbal 200 to take pictures or controls the gimbal rotation of the handheld gimbal 200.

[0240] In some embodiments, the handheld gimbal 200 has a power supply module 23;

[0241] In the flight mode, the power supply module 23 supplies power to the flight device 100 and the camera module 202 of the handheld gimbal 200 respectively;

[0242] Alternatively, in the flight mode, the power supply module supplies power to the camera module 202 of the handheld gimbal 200 and the flight device 100 in sequence.

[0243] In some embodiments, in the handheld mode, the power supply module 23 supplies power to at most the handheld gimbal 200.

[0244] It should be noted that the flight device 100 provided in this embodiment may adopt the flight device 100 in the unmanned aerial vehicle described in any of the above embodiments. The handheld gimbal 200 applied thereto can specifically refer to the descriptions of the above embodiments, which will not be elaborated herein.

[0245] Some embodiments of the present application further provide a handheld gimbal 200, including: a grip portion 201; the handheld gimbal 200 is detachably connected to the flying device 100 so that the unmanned aerial vehicle has a combined state and a separated state; in the combined state, the handheld gimbal 200 is disposed below the flying device 100, one end of the handheld gimbal 200 is connected to the flying device 100, and the grip portion 201 of the handheld gimbal 200 can be disposed away from the flying device 100 so that the grip portion 201 can be held by a user, thereby realizing the handheld takeoff and landing of the unmanned aerial vehicle; in the separated state, the handheld gimbal can be used alone.

[0246] In some embodiments, the flying device 100 has a first connection portion 11 and a first electrical connection portion 12, and the handheld gimbal 200 has a second connection portion 21 and a second electrical connection portion 22. In the combined state, the first connection portion 11 is detachably connected to the second connection portion 21, and the first electrical connection portion 12 is docked with the second electrical connection portion 22 to establish an electrical connection.

[0247] In some embodiments, in the combined state, the flying device 100 and the handheld gimbal 200 establish a power supply connection through the first electrical connection portion 12 and the second electrical connection portion 22; and / or, in the combined state, the flying device 100 and the handheld gimbal 200 establish a communication connection through the first electrical connection portion 12 and the second electrical connection portion 22.

[0248] In some embodiments, the handheld gimbal 200 is provided with an energy supply module 23. In the combined state, the handheld gimbal 200 supplies power to the flying device 100 through the energy supply module 23.

[0249] In some embodiments, there is a receiving cavity for accommodating the energy supply module 23 in the grip portion 201, and the energy supply module 23 is detachably accommodated in the receiving cavity.

[0250] In some embodiments, one of the first electrical connection portion 21 and the second electrical connection portion 22 includes interface contacts, and the other of the first electrical connection portion 21 and the second electrical connection portion 22 includes interface pins; when the first connection portion 11 is connected to the second connection portion 21, the interface contacts contact the interface pins to establish an electrical connection between the flying device 100 and the handheld gimbal 200.

[0251] In some embodiments, it further includes a video transmission module 300. The handheld gimbal 200 includes a camera module 202, and the video transmission module 300 is used for communicating with the camera module 202.

[0252] In some embodiments, in the combined state, the video transmission module 300 is communicatively connected to the camera module 202 of the handheld gimbal 200 and the control terminal 400.

[0253] In some embodiments, the video transmission module 300 includes a wireless communication unit 301 and a processing unit 302. The wireless communication unit 301 is disposed on the flying device 100, and the processing unit 302 is disposed on the handheld gimbal. The wireless communication unit 301 and the processing unit 302 communicate through the electrical connection established between the flying device 100 and the handheld gimbal 200 in the combined state.

[0254] In some embodiments, the flying device 100 includes a fuselage 101 and arms 102. When the unmanned aerial vehicle is in a flying state, a plurality of arms 102 are arranged around the fuselage 101.

[0255] In some embodiments, the wireless communication unit 301 includes a radio frequency antenna, and at least a part of the radio frequency antenna is disposed on the arm 102 of the flying device 100. Radio frequency antennas are disposed on each of the arms 102 of the flying device 100. The radio frequency antenna can extend along the length direction of the arm 102.

[0256] In some embodiments, the flying device 100 includes a flight control module 103 and a power system 104. The flight control module 103 is used for communicating with the power system 104, and the flight control module 103 is used for controlling the power output of the power system 104.

[0257] In some embodiments, the power system 104 includes: a propeller 1041, a motor 1042, and an electronic speed controller 1043.

[0258] The output shaft of the motor 1042 is fixedly connected to the propeller 1041 for driving the propeller 1041 to rotate; the flight control module 103 is used for communicating with the electronic speed controller 1043, and the electronic speed controller 1043 is electrically connected to the motor 1042. The electronic speed controller 1043 is used for controlling the rotation speed and / or rotation direction of the motor 1042 according to the control signal sent by the flight control module 103.

[0259] In some embodiments, an obstacle avoidance module 105 is further included. The obstacle avoidance module 105 is at least used for detecting obstacle information in the flight direction. The obstacle avoidance module 105 and the flight control module 103 are respectively communicatively connected to the control terminal 400. The obstacle avoidance module 105 is used for sending the obstacle information to the control terminal 400 so that the control terminal determines flight control information according to the obstacle information and sends the determined flight control information to the flight control module 103.

[0260] In some embodiments, the obstacle avoidance module 105 is disposed on the flying device 100 and / or the handheld gimbal 200.

[0261] In some embodiments, the obstacle avoidance module 105 is disposed on the handheld gimbal 200, and the obstacle avoidance module 105 is disposed on the holding portion 201 and always faces the flight direction of the flying device 100;

[0262] In some embodiments, the obstacle avoidance module 105 is disposed at the end of the arm 102 of the flying device 100.

[0263] In some embodiments, an obstacle avoidance module 105 is disposed at the end of each arm 102, and the signal transceiver directions of the obstacle avoidance modules 105 on the respective arms 102 are arranged in a staggered manner up and down, so that the multiple obstacle avoidance modules 105 form an omni-directional obstacle avoidance of 360°.

[0264] In some embodiments, the holding portion 201 is provided with a display module 106, and the display module 106 is communicatively connected to the camera module 202 of the handheld gimbal 200.

[0265] In some embodiments, a positioning module 107 is further included. The positioning module 107 is used to determine the relative position of the flying device with respect to the ground, and further determine the flight trajectory of the flying device 100. The positioning module 107 is communicatively connected to the control terminal 400 to send the flight trajectory information to the control terminal 400.

[0266] In some embodiments, the positioning module 107 is disposed on the arm 102 of the flying device 100.

[0267] In some embodiments, the holding portion 201 is rotatably connected to the camera module 202 of the handheld gimbal 200 through a first axis assembly M1, a second axis assembly M2, and a third axis assembly M3.

[0268] In some embodiments, the first axis assembly M1 includes a first rotating shaft M11 and a first connecting arm M12. One end of the first connecting arm M12 is pivotally connected to the holding portion 201 through the first rotating shaft M11, and the first rotating shaft M11 is parallel to the yaw axis of the unmanned aerial vehicle;

[0269] The second axis assembly M2 includes a second rotating shaft M21 and a second connecting arm M22. The other end of the first connecting arm M12 is fixedly connected to one end of the second connecting arm M22, and the other end of the second connecting arm M22 is pivotally connected to the second rotating shaft M21. The second rotating shaft M21 is parallel to the pitch axis of the unmanned aerial vehicle.

[0270] The third axis assembly M3 includes a third rotating shaft M31 and a third connecting arm M32. One end of the third connecting arm M32 is pivotally connected to the second rotating shaft M21, and the other end of the third connecting arm M32 and the camera module 202 are pivotally connected through the third rotating shaft M31. The third rotating shaft M31 is parallel to the roll axis of the unmanned aerial vehicle.

[0271] In some embodiments, the camera module 202 is rotationally connected to the holding portion 201 through the first axis assembly M1. The unmanned aerial vehicle includes a landing gear 500, and the landing gear 500 is detachably connected to the first axis assembly M1 so that the landing gear 500 rotates following the first axis assembly M1.

[0272] In some embodiments, the flying device 100 has a fuselage 101 and a plurality of arms 102. The plurality of arms 102 are rotatably connected to the fuselage 101 so that the flying device 100 has a retracted state and an unfolded state.

[0273] In some embodiments, in the retracted state, the plurality of arms 102 are substantially parallel;

[0274] and / or, in the unfolded state, the plurality of arms 102 are evenly arranged around the fuselage 101 of the flying device 100.

[0275] In some embodiments, the flying device 100 has a first connecting portion 11, and the handheld gimbal 200 has a second connecting portion 21. The first connecting portion 11 and the second connecting portion 21 can be connected so that the flying device is locked in the unfolded state.

[0276] In some embodiments, one end of the arm 102 away from the fuselage has a propeller blade 1041a, as well as a propeller base and a propeller clamp 1041b. The power system includes a motor 1042. The motor 1042 is fixedly connected to the propeller base or the propeller clamp 1041b to drive the propeller base or the propeller clamp 1041b to rotate, thereby driving the propeller blade 1041a to rotate.

[0277] In some embodiments, each arm 102 has at least two propeller blades 1041a. The at least two propeller blades 1041a are respectively pivotally connected to the propeller base or the propeller clamp 1041b so that the propeller blades 1041a can be folded relative to the arm 102.

[0278] When the flying device 100 is in the unfolded state, a receiving groove C is formed between at least two adjacent arms 102. The handheld gimbal 200 has a locking protrusion D. When the first connecting portion 11 is connected to the second connecting portion 21, the locking protrusion D snaps into the receiving groove C to lock the flying device 100 in the unfolded state. The locking protrusion D is formed on the second connecting portion 21.

[0279] In some embodiments, the connection manner between the first connecting portion 11 and the second connecting portion 21 includes at least one of the following: threaded connection, snap connection, magnetic attraction.

[0280] In some embodiments, the connection manner between the first connecting portion 11 and the second connecting portion 21 includes snap connection; one of the first connecting portion 11 and the second connecting portion 21 has a first clamping portion 211, and the other of the first connecting portion 11 and the second connecting portion 21 has a first mating portion 111 that cooperates with the first clamping portion 211. The first clamping portion 211 can be engaged with the first mating portion 111 so that the first connecting portion 11 is connected to the second connecting portion 21.

[0281] The first clamping part 211 is movably connected to one of the first connecting part 11 and the second connecting part 21, and the first clamping part 211 can move between a locked position and a separated position; at the locked position, the first clamping part 211 is engaged with the first mating part 111, and the flying device 100 and the handheld gimbal 200 are in a combined state; at the separated position, the first clamping part 211 is separated from the first mating part 111, and the flying device 100 and the handheld gimbal 200 are in a separated state.

[0282] In some embodiments, the first clamping part 211 is connected with a driving part 212, and the driving part 212 is used for receiving an external driving force to drive the first clamping part 211 to move.

[0283] In some embodiments, a shock absorption module 24 is provided on one side of the handheld gimbal 200 close to the second connecting part 21. The second connecting part 21 is provided at one end of the holding part 201, and the shock absorption module 24 is provided between the holding part 201 and the second connecting part 21. The shock absorption module 24 is provided between the second connecting part 21 and the fuselage 101.

[0284] In some embodiments, the handheld gimbal 200 further has a third connecting part 31 and a third electrical connecting part 32. The third connecting part 31 is used for detachably connecting with an external communication device, and the third electrical connecting part 32 is used for establishing an electrical connection with the external communication device to at least be able to transmit data.

[0285] It should be noted that the handheld gimbal 200 provided in this embodiment can adopt the handheld gimbal 200 in the unmanned aerial vehicle described in any of the above embodiments. For the handheld gimbal 200 it applies to, it can specifically refer to the description of the above embodiments, and will not be elaborated here.

[0286] Some embodiments of the present application also provide another unmanned aerial vehicle, including: a fuselage 101, an arm 102, and a gimbal mounted on the fuselage 101; the fuselage 101 has a first electrical connecting part 11, and the gimbal has a second electrical connecting part 12; a wireless communication unit 301, at least partially provided on the arm 102, and the wireless communication unit 301 is used for communicating with a control terminal to transmit image information; a processing unit 302, provided on the gimbal, and the processing unit 302 and the wireless communication unit 301 establish a communication connection through the first electrical connecting part 21 and the second electrical connecting part 22.

[0287] The gimbal in this embodiment can be a handheld gimbal or a gimbal of an ordinary unmanned aerial vehicle. When the gimbal is a handheld gimbal, the handheld gimbal described in the above embodiments can be adopted.

[0288] In the unmanned aerial vehicle of this embodiment, in the combined state, the flight device 100 and the gimbal can achieve communication connection through the first electrical connection part 12 and the second electrical connection part 22. The image and video data transmitted by the video transmission module 300 can be radio frequency data, and the amount of radio frequency data is small, thereby reducing the transmission pressure between the first electrical connection part 12 and the second electrical connection part 22. Therefore, reliable, stable and fast transmission can be achieved. The wireless communication unit 301 of the video transmission module 300 is arranged on the flight device, so that there is less occlusion of the wireless communication unit 301, ensuring its signal strength and the communication reliability with the control terminal 400. The processing unit 302 is arranged on the gimbal. When the gimbal is a handheld gimbal, when the handheld gimbal is used alone, the processing unit 302 can also process the image and video data captured by the camera module 202, without affecting the function of the handheld gimbal 200 used alone.

[0289] In some embodiments, the wireless communication unit 301 includes a radio frequency antenna, and a radio frequency antenna is provided on each arm 102.

[0290] In some embodiments, the radio frequency antenna extends along the length direction of the arm 102.

[0291] In some embodiments, the gimbal is provided with an energy supply module 23, the energy supply module 23 is electrically connected to the second electrical connection part 22, and the energy supply module 23 of the gimbal supplies power to the flight device 100 through the first electrical connection part 21 and the second electrical connection part 22.

[0292] In some embodiments, there is a receiving cavity for accommodating the energy supply module 23 in the gimbal, and the energy supply module is detachably accommodated in the receiving cavity.

[0293] In some embodiments, one of the first electrical connection part 21 and the second electrical connection part 22 includes interface contacts, and the other of the first electrical connection part 21 and the second electrical connection part 22 includes interface pins.

[0294] In some embodiments, a plurality of arms 102 are arranged around the fuselage 101, and the gimbal is connected to the fuselage 101.

[0295] In some embodiments, the flight device 100 includes a flight control module 103 and a power system 104. The flight control module 103 is communicatively connected to the power system 104, and the flight control module 103 is used to control the power output of the power system 104.

[0296] In some embodiments, the unmanned aerial vehicle further includes an obstacle avoidance module 105, and the obstacle avoidance module 105 and the flight control module are respectively connected to the control terminal 400. The obstacle avoidance module 105 is at least used to detect obstacle information in the flight direction, and send the obstacle information to the control terminal 400, so that the control terminal determines the flight control information according to the obstacle information, and sends the determined flight control information to the flight control module.

[0297] In some embodiments, the obstacle avoidance module 105 is disposed in the flying device 100 and / or the gimbal.

[0298] In some embodiments, the obstacle avoidance module 105 is disposed on the gimbal, and the obstacle avoidance module 105 is always oriented toward the flight direction of the UAV;

[0299] In some embodiments, the obstacle avoidance module 105 is disposed at the end of the arm.

[0300] In some embodiments, an obstacle avoidance module 105 is disposed at the end of each arm 102 , and the signal transmission and reception directions of the obstacle avoidance modules 105 on each arm 102 are arranged in an up-and-down staggered manner.

[0301] In some embodiments, the gimbal has a display module 106 , and the display module 106 is communicatively connected to the camera module 202 .

[0302] In some embodiments, a positioning module 107 is further included. The positioning module 107 is used to determine the relative position of the flying device with respect to the ground, and further determine the flight trajectory of the flying device 100 .

[0303] In some embodiments, the positioning module 107 is in communication with the control terminal 400 to send the flight trajectory information to the control terminal 400. In some embodiments, the positioning module 107 is disposed on the arm 102.

[0304] In some embodiments, the gimbal has a connecting portion connected to the body 101 (when the gimbal is a handheld gimbal, the connecting portion is a gripping portion 201 ), and the connecting portion is rotatably connected to the camera module 202 via a first axis assembly M1 , a second axis assembly M2 , and a third axis assembly M3 .

[0305] In some embodiments, the grip portion 201 is rotatably connected to the camera module 202 of the handheld gimbal 200 via a first axis assembly M1 , a second axis assembly M2 , and a third axis assembly M3 .

[0306] In some embodiments, the first shaft assembly M1 includes a first rotating shaft M11 and a first connecting arm M12, one end of the first connecting arm M12 is pivotally connected to the gripping portion 201 via the first rotating shaft M11, and the first rotating shaft M11 is parallel to the yaw axis of the UAV;

[0307] The second axis assembly M2 includes a second rotating shaft M21 and a second connecting arm M22. The other end of the first connecting arm M12 is fixedly connected to one end of the second connecting arm M22. The other end of the second connecting arm M22 is pivotally connected to the second rotating shaft M21. The second rotating shaft M21 is parallel to the pitching axis of the unmanned aerial vehicle.

[0308] The third axis assembly M3 includes a third rotating shaft M31 and a third connecting arm M32. One end of the third connecting arm M32 is pivotally connected to the second rotating shaft M21. The other end of the third connecting arm M32 and the camera module 202 are pivotally connected through the third rotating shaft M31. The third rotating shaft M31 is parallel to the roll axis of the unmanned aerial vehicle.

[0309] In some embodiments, the camera module 202 is rotatably connected to the holding part 201 through the first axis assembly M1. The unmanned aerial vehicle includes a landing gear 500. The landing gear 500 is detachably connected to the first axis assembly M1 so that the landing gear 500 rotates following the first axis assembly M1.

[0310] In some embodiments, the flying device 100 has a fuselage 101 and a plurality of arms 102. The plurality of arms 102 are rotatably connected to the fuselage 101 so that the flying device 100 has a retracted state and an extended state.

[0311] In some embodiments, in the retracted state, the plurality of arms 102 are substantially parallel;

[0312] And / or, in the extended state, the plurality of arms 102 are evenly arranged around the fuselage 101 of the flying device 100.

[0313] In some embodiments, one end of the arm 102 away from the fuselage 101 has a propeller 10. Each arm has at least two propellers. The at least two propellers are respectively pivotally connected to the arm.

[0314] In some embodiments, a shock absorption module 24 is provided between the fuselage 101 and the gimbal.

[0315] It should be noted that the unmanned aerial vehicle provided in this embodiment may adopt the flying device 100 in the unmanned aerial vehicle described in any of the above embodiments. The gimbal it applies to may be a handheld gimbal 200 or other gimbals. The related functions of the flying device 100 and the related structures and functions involved in the gimbal can be referred to the descriptions of the above embodiments and will not be elaborated here.

[0316] Based on any of the above embodiments, please refer to Figures 1 - 12, an embodiment of the present application provides a flying device 100, including: a power system 104 configured to propel the flying device 100; and a fuselage 101 connected to a plurality of power systems 104 through a plurality of arms 102 respectively. When the flying device 100 is in a folded state, the plurality of arms 102 are folded to form a first alignment state, and the plurality of motors form a second alignment state. The fuselage includes a connecting portion, and the fuselage 101 is detachably connected to the handheld gimbal 200 through the connecting portion. The arm 102 can rotate toward the connecting portion so that the flying device 100 can be in the folded state. In the folded state, the arms are substantially surrounded around the connecting portion, and the arm 102 is foldable.

[0317] In some embodiments, each power system 104 includes a set of rotating components, and when the unmanned flying device 100 is in a folded state, the multiple sets of rotating components of the plurality of power systems 104 form a third alignment state.

[0318] In some embodiments, a plurality of rotating components are distributed on one side of the fuselage 101, and the corresponding arm 102 of the plurality of folding arms has a proximal end rotatably connected to the corresponding rotating component of the plurality of rotating components.

[0319] In some embodiments, when in the folded state, the plurality of motors 1042 are aligned in a straight line.

[0320] In some embodiments, each rotating component includes a receiving surface connected to the corresponding arm 102 (the receiving surface is perpendicular to the rotation axis along which the corresponding arm 102 is configured to rotate), and a plurality of rotors with different inclination angles of the receiving surfaces in the plurality of receivers, so that when folded, the plurality of motors 1042 are arranged in a straight line.

[0321] In some embodiments, it further includes a plurality of protection parts 1021 configured to respectively removably cover the plurality of power systems 104. For example, the protection part 1021 is a protective cover, and the protective cover is detachable; the number of blades is not limited.

[0322] In some embodiments, the unmanned flying device 100 includes four arms 102, and when the unmanned flying device 100 is in an unfolded state, the four arms 102 extend substantially radially from the fuselage 101 to form an orthogonal alignment.

[0323] In some embodiments, the flying device 100 further includes: a connecting portion disposed on the fuselage 101 and configured to be removably coupled to the handheld gimbal 200. The connecting portion includes: a mechanical connector 11 configured to be removably coupled to the handheld gimbal 200; and an electrical connector 12 configured to exchange electrical signals with the handheld gimbal 200 when the unmanned flying device 100 is coupled to the handheld gimbal 200 through the mechanical connector 11.

[0324] In some embodiments, the flying device 100 further includes: a plurality of antennas 301, each antenna 301 being mounted along a corresponding one of the plurality of arms 102 of the flying device 100.

[0325] In some embodiments, the flying device 100 further includes: a vision positioning sensor 107 disposed on one of the plurality of arms 102 and positioned to capture ground information for visual positioning while propelling the flying device 100.

[0326] Based on any of the above embodiments, please refer to Figures 1 - 12 , an embodiment of the present application provides a movable system kit, including the flying device 100 and the handheld gimbal 200 provided in any of the above embodiments. The handheld gimbal 200 is movably coupled to the flying device 100.

[0327] Based on any of the above embodiments, please refer to Figures 1 - 12 , an embodiment of the present application provides a flying device 100, including a plurality of arms 102, the plurality of arms 102 being respectively connected to a plurality of power systems 104 configured to propel the flying device 100; the flying device 100 is configured to be movably coupled to the handheld gimbal 200. The handheld gimbal 200 includes a connecting portion disposed at a first end of the handheld gimbal 200 for movably coupling to the flying device 100, and a supporting device disposed at a second end opposite to the first end and configured to be coupled to the imaging device 202. Wherein, when the handheld gimbal 200 is coupled to the flying device 100, the coupling portion is configured to lock the positions of the plurality of arms 102.

[0328] Based on any of the above embodiments, please refer to Figures 1 - 12, embodiments of the present application further provide a handheld gimbal 200, which includes a connecting portion disposed at the first end of the handheld gimbal 200 and movably coupled to the flying device 100, and a supporting device disposed at the second end opposite to the first end and configured to be coupled to the imaging device 202. The handheld gimbal 200 is used to be coupled and connected to the flying device 100. The flying device 100 includes a plurality of arms 102, and the plurality of arms 102 are respectively connected to a plurality of power systems 104 configured to push the flying device 100; the flying device 100 is used to be movably coupled to the handheld gimbal 200, wherein when the handheld gimbal 200 is combined with the flying device 100, the combining portion is configured to lock the positions of the plurality of arms 102.

[0329] Specifically:

[0330] In some embodiments, the flying device 100 further includes a fuselage 101, and the fuselage 101 includes: a plurality of rotating components configured to be rotatably coupled to the proximal ends of the plurality of arms 102 respectively; and a first connector 11 configured to be removably coupled to the handheld gimbal 200.

[0331] In some embodiments, the coupling portion of the handheld gimbal 200 further includes: a second connector 21 configured to be movably coupled to the first connector 11 of the flying device 100, and one or more first clamping portions 211 configured to be detachably coupled to a plurality of rotors. When the handheld gimbal 200 is coupled to the flying device 100 through the first connector 11 and the second connector 21, the one or more first clamping portions 211 are configured to be respectively assembled in one or more spaces between the plurality of rotating components to lock the positions of the plurality of rotating components.

[0332] In some embodiments, each of the first connector 11 and the second connector 21 includes: a mechanical connector 11 configured to removably couple the flying device 100 to the handheld gimbal 200; and an electrical connector 21 configured to exchange electrical signals between the flying device 100 and the handheld gimbal 200 when the flying device 100 is coupled to the handheld gimbal 200 via the mechanical connector 11.

[0333] In some embodiments, the coupling portion of the handheld gimbal 200 includes a shock absorption module 24, and the shock absorption module 24 is disposed on a side of the coupling portion opposite to the second connector 21.

[0334] In some embodiments, the support device of the handheld gimbal 200 further includes one or more rotatable members configured to rotatably support the imaging device 202. For example, a 3-axis gimbal device; removably or fixedly coupled to the imaging device 202 or other types of payloads, such as audio devices, sensors, etc.; including a first member that supports rotation about the yaw axis - this rotation can be used for the handle (to adjust the position of the handle so that the obstacle avoidance camera always faces the moving direction) and the main camera (rotation about the yaw axis); a second member that provides tilting motion; and a third member that provides roll motion - longitudinal or lateral.

[0335] In some embodiments, the handheld gimbal 200 further includes one or more processors configured to process image data captured by the imaging device 202. For example, it includes one or more image processing chips for codecs, digital-to-analog converters, etc.

[0336] In some embodiments, the one or more processors are configured to convert digital image data into an analog signal.

[0337] In some embodiments, the analog signal is transmitted from the handheld gimbal 200 to the flying device 100 via the electrical connectors 21 of the first connector 11 and the second connector 21, respectively. For example, it includes metal contacts. For example, metal contacts and cables for transmitting signals between the two modules.

[0338] In some embodiments, the flying device 100 further includes a plurality of antennas 301, each antenna 301 being mounted along a corresponding one of the plurality of arms 102 of the flying device 100, and the plurality of antennas 301 are configured to send analog signals from the flying device 100. The system is connected to an external device. For example, it includes one or more RF antennas 301 (or other transmission devices, such as WiFi). For example, the external device includes a remote controller, a mobile device, etc.

[0339] In some embodiments, the flying device 100 further includes a controller configured to control the operation of the flying device 100 according to a control signal generated based on the image data captured by the imaging device 202. For example, a control signal generated by one or more chips on the handheld device and transmitted from the handheld object to the flying device 100; or a control signal generated by an external device (remote controller) and received by the antenna 301 on the flying device 100. For example, operations performed according to a pre-programmed mode, such as target tracking, object avoidance, hovering, etc.

[0340] In some embodiments, the flying device 100 further includes a plurality of fisheye lens cameras respectively disposed at the distal ends of the plurality of arms 102.

[0341] In some embodiments, the flying device 100 further includes a vision positioning sensor 107, which is arranged on one of the plurality of arms 102 and positioned to capture ground information for vision positioning while propelling the flying device 100.

[0342] In some embodiments, the handheld gimbal 200 further includes a cover configured to removably cover the connection portion of the handheld gimbal 200 when the handheld gimbal 200 is decoupled from the flying device 100. The cover includes a data transmitter configured to transmit image data of an external device acquired by the imaging device 202.

[0343] In some embodiments, the handheld gimbal 200 further includes a battery configured to supply power to the handheld gimbal 200, the imaging device 202, and the support device.

[0344] In some embodiments, when the handheld gimbal 200 is coupled to the flying device 100, the battery is further configured to supply power to the handheld gimbal 200, the imaging device 202, the support device, and the flying device 100. For example, power is transmitted from the handheld device to the flying device 100 through the first and second connectors 21; it can be a removable battery or fixed to the handle of the handheld gimbal 200.

[0345] In some embodiments, the handheld gimbal 200 further includes an interactive component located on a first side of the grip portion 201 of the handheld gimbal 200 and configured to detect user input received on the interactive component. For example, a touch screen or buttons and a display.

[0346] In some embodiments, the handheld gimbal 200 further includes an obstacle avoidance module 105 on a second side opposite to the first side of the grip portion 201 and configured to capture information to avoid obstacles.

[0347] In some embodiments, when propelled by the plurality of power systems 104, the flying device 100 is connected to the handheld gimbal 200, and the support device is configured to support the rotation of the grip portion 201, thus enabling the system.

[0348] In some embodiments, the movable system further includes a landing gear 500 removably coupled to a first rotatable member of the support device, for example, the yaw axis. For example, or can be fixedly connected to the support device of the handheld gimbal 200.

[0349] In some embodiments, the landing gear 500 is retractable during landing and takeoff of the mobile system.

[0350] In some embodiments, the imaging device 202 is configured to operate in a first mode (e.g., aerial photography) when the handheld gimbal 200 is connected to the flying device 100, and to operate in a second mode (e.g., handheld shooting scenario) when the handheld gimbal 200 is detached from the flying device 100.

[0351] In some embodiments, when the flying device 100 is coupled to the handheld gimbal 200, the mobile system is configured to be activated from the user's hand when held.

[0352] In some embodiments, when the flying device 100 is coupled to the handheld gimbal 200, the mobile system is configured to capture a first set of images in a handheld shooting mode when held by the user's hand, and to continuously capture a second set of images in an aerial photography mode after being launched from the user's hand.

[0353] Based on any of the above embodiments, please refer to Figures 1 - 12 , an embodiment of the present application provides a mobile system, including: a flying device 100, including a plurality of arms 102, the plurality of arms 102 are respectively connected to a plurality of power systems 104 configured to propel the flying device 100; and a handheld gimbal 200, which includes a connection portion disposed at a first end of the handheld gimbal 200 to movably couple to the flying device 100, and a support device disposed at a second end opposite to the first end and configured to couple to the imaging device 202, wherein when the handheld gimbal 200 is coupled to the flying device 100, the coupling portion is configured to lock the positions of the plurality of arms 102.

[0354] Based on any of the above embodiments, please refer to Figures 1 - 12 , an embodiment of the present application further provides a mobile system, including: a flying device 100, including a plurality of power systems 104 for propelling the flying device 100; and a handheld gimbal 200 movably connected to the flying device 100, the handheld gimbal 200 includes a grip portion 201 and one or more interactive components configured to detect user input received on the one or more interactive components; and one or more processors coupled to a memory and configured to store instructions to be executed by the one or more processors to control the operation of the flying device 100 or the handheld gimbal 200 according to the user input.

[0355] In some embodiments, the flying device 100 further includes a fuselage 101, and the fuselage 101 includes: a plurality of rotors configured to be rotatably coupled to a plurality of power systems 104 via a plurality of arms 102 respectively, and a first connector 11 configured to be removably coupled to the handheld gimbal 200.

[0356] In some embodiments, the handheld gimbal 200 further includes a coupling portion disposed at a first end of the handheld gimbal 200, and the coupling portion includes a second connector 21 configured to be removably coupled to the first connector 11 of the flying device 100.

[0357] In some embodiments, the handheld gimbal 200 further includes a support device at a second end opposite to the first end of the handheld gimbal 200, and the support device includes one or more rotatable members configured to be rotatably coupled to the imaging device 202.

[0358] In some embodiments, when the flying device 100 is coupled to the handheld gimbal 200, the plurality of arms 102 are configured to fold in a first direction away from the handheld gimbal 200 to provide a bracket for supporting the movable system.

[0359] In some embodiments, when the flying device 100 is decoupled from the handheld gimbal 200, the plurality of arms 102 are configured to fold in a second direction opposite to the first direction to form a dense alignment.

[0360] In some embodiments, the coupling portion of the handheld gimbal 200 further includes one or more first clamping portions 211 to removably couple to the plurality of arms of the flying device 100, and wherein when the handheld gimbal 200 is coupled to the flying device 100, via the first connector 11 and the second connector 21, the one or more first clamping portions 211 are configured to be respectively assembled in one or more spaces between the plurality of rotors to lock the positions of the plurality of arms.

[0361] In some embodiments, each of the first connector 11 and the second connector 21 includes: a mechanical connector 11 configured to removably couple the flying device 100 to the handheld gimbal 200; and an electrical connector 21 configured to exchange electrical signals between the flying device 100 and the handheld gimbal 200 when the flying device 100 is coupled to the handheld gimbal 200 via the mechanical connector 11.

[0362] In some embodiments, the coupling portion of the handheld gimbal 200 includes a shock absorption module 24 disposed on a side of the coupling portion opposite to the second connector 21.

[0363] In some embodiments, the handheld gimbal 200 further includes one or more processors configured to convert digital image data captured by the imaging device 202 into an analog signal for transmission from the handheld gimbal 200 to the flying device 100 via the electrical connectors 21 of the first object and the second object. The second connector.

[0364] In some embodiments, the flying device 100 further includes a plurality of antennas 301, each antenna 301 being mounted along a corresponding one of the plurality of arms 102 of the flying device 100, the plurality of antennas 301 being configured to send analog signals from the flying device 100. The system is connected to an external device.

[0365] In some embodiments, the flying device 100 further includes a controller configured to control the operation of the flying device 100 according to a control signal generated based on digital image data captured by the imaging device 202.

[0366] In some embodiments, the flying device 100 further includes a visual positioning sensor 107 disposed on one of the plurality of arms 102 and positioned to capture ground information for visual positioning while propelling the flying device 100.

[0367] In some embodiments, the handheld gimbal 200 further includes being configured to: power the handheld gimbal 200, the support device, and the imaging device 202 when the handheld device is decoupled from the flying device 100; and power the handheld gimbal 200, the support device, the imaging device 202, and the flying device 100 when the handheld gimbal 200 is coupled to the flying device 100.

[0368] In some embodiments, the handheld gimbal 200 further includes an obstacle avoidance module 105 on the grip portion 201 and is configured to capture information for obstacle avoidance, and wherein when propelled by the plurality of power systems 104, the flying device 100 is connected to the handheld gimbal 200. The purpose support device is configured to support the rotation of the grip portion 201 such that the obstacle avoidance module 105 faces the moving direction of the movable system.

[0369] In some embodiments, a landing gear 500 is further included, the landing gear 500 being removably coupled to a first rotatable member (e.g., the yaw axis) of the support device, the landing gear 500 being retractable during takeoff or startup of the movable system.

[0370] In some embodiments, the imaging device 202 is configured to operate in a first mode (e.g., aerial photography) when the handheld gimbal 200 is connected to the flying device 100, and to operate in a second mode (e.g., handheld shooting scenario) when the handheld gimbal 200 is detached from the flying device 100.

[0371] In some embodiments, when the flying device 100 is coupled to the handheld gimbal 200, the imaging device 202 is configured to capture a first set of images in a handheld shooting mode when held by one hand of the user, and, in response to a user input, to be removed from the user's hand and to capture a second set of images in an aerial photography mode.

[0372] Based on any of the above embodiments, please refer to Figures 1 - 12 , an embodiment of the present application further provides a mobile system, including: a flying device 100, including a plurality of power systems 104 for propelling the flying device 100; and a handheld gimbal 200, which includes a coupling portion detachably coupled to the flying device 100 and a gripping portion 201 configured to be gripped by the user's hand. Wherein, when the handheld gimbal 200 is coupled to the flying device 100, the mobile system is configured to be able to take off when held on the gripping portion 201 when the user grips the gripping portion 201, or the gripping portion 201 can be grasped by the user on the gripping portion 201 during flight.

[0373] In some embodiments, the handheld gimbal 200 further includes one or more interactive components configured to detect user input received on the one or more interactive components.

[0374] In some embodiments, the flying device 100 further includes a fuselage 101, the fuselage 101 including: a plurality of rotors configured to be rotatably coupled to a plurality of power systems 104 via a plurality of arms 102 respectively, and a first connector 11 configured to be removably coupled to the handheld gimbal 200.

[0375] In some embodiments, the coupling portion is provided on a first end of the handheld gimbal 200 and includes a second connector 21 configured to be removably coupled to the first connector 11 of the flying device 100, and wherein the handheld gimbal 200 further includes a support. An imaging device 202 on a second end opposite to the first end of the handheld gimbal 200, the support device including one or more rotatable members configured to be rotatably coupled to the imaging device 202. The one or more rotatable members include at least one of the following: a first shaft assembly M1, a second shaft assembly M2, and a third shaft assembly M3.

[0376] In some embodiments, when the flying device 100 is coupled to the handheld gimbal 200, the plurality of arms 102 are configured to fold in a first direction away from the handheld gimbal 200 to provide a bracket for supporting the movable system.

[0377] In some embodiments, when the flying device 100 is decoupled from the handheld gimbal 200, the plurality of arms 102 are configured to fold in a second direction opposite to the first direction to form a dense alignment.

[0378] In some embodiments, the coupling portion of the handheld gimbal 200 further includes one or more first clamping portions 211 configured to removably couple to the plurality of rotors of the flying device 100, and wherein when the handheld gimbal 200 is coupled to the flying device 100, via the first connector 11 and the second connector 21, the one or more first clamping portions 211 are configured to be respectively assembled in one or more spaces between the plurality of rotors to lock the positions of the plurality of arms.

[0379] In some embodiments, each of the first connector 11 and the second connector 21 includes: a mechanical connector 11 configured to removably couple the flying device 100 to the handheld gimbal 200; and an electrical connector 21 configured to exchange electrical signals between the flying device 100 and the handheld gimbal 200 when the flying device 100 is coupled to the handheld gimbal 200 via the mechanical connector 11.

[0380] In some embodiments, the handheld gimbal 200 further includes one or more processors configured to convert digital image data captured by the imaging device 202 into an analog signal for transmission from the handheld gimbal 200 to the flying device 100 via the electrical connectors 21 of the first object and the second object. The second connector.

[0381] In some embodiments, the flying device 100 further includes a plurality of antennas 301, each antenna 301 being mounted along a corresponding one of the plurality of arms 102 of the flying device 100, the plurality of antennas 301 being configured to transmit analog signals from the flying device 100. The system is connected to an external device.

[0382] In some embodiments, the handheld gimbal 200 is further configured to: power the handheld gimbal 200, the support device, and the imaging device 202 when the handheld device is decoupled from the flying device 100; and power the handheld gimbal 200, the support device, the imaging device 202, and the flying device 100 when the handheld gimbal 200 is coupled to the flying device 100.

[0383] In some embodiments, the handheld gimbal 200 further includes an obstacle avoidance module 105 on the holding portion 201 and is configured to capture information for avoiding obstacles, and wherein the flying device 100 is connected to the handheld gimbal 200 when propelled by the plurality of power systems 104. For the purposes of the present application, the support device is configured to support the rotation of the holding portion 201 such that the obstacle avoidance module 105 faces the moving direction of the movable system.

[0384] In some embodiments, the imaging device 202 is configured to operate in a first mode (e.g., aerial photography) when the handheld gimbal 200 is connected to the flying device 100 and to operate in a second mode (e.g., handheld shooting scenario) when the handheld gimbal 200 is detached from the flying device 100.

[0385] In some embodiments, when the flying device 100 is coupled to the handheld gimbal 200, the imaging device 202 is configured to capture a first set of images in a handheld shooting mode when held by one hand of the user and, after being removed from one hand of the user, to continuously and subsequently capture a second set of images in an aerial photography mode.

[0386] In several embodiments provided in the present application, the couplings or direct couplings or communication connections shown or discussed with each other may be indirect couplings or communication connections through some interfaces, devices or units, and may be in electrical, mechanical or other forms.

[0387] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not intended to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A flight kit, characterized in that, Comprising: A flying device; A functional module, which can be connected to or separated from the flying device so that the functional module and the flying device can be in a combined state or a separated state; And An obstacle avoidance module, which is at least used to detect obstacle information in the flight direction; In the combined state, the functional module protrudes from the flying device; In the separated state, the functional module can be used alone.

2. The flight kit according to claim 1, wherein The flying device includes: A fuselage and arms, the arms are movably connected to the fuselage so that the arms have a retracted state and an extended state; A power system and a flight control module, the flight control module is used for communication connection with the power system, and the flight control module is used to control the power output of the power system.

3. The flight kit according to claim 2, characterized in that, The obstacle avoidance module is arranged at the end of the arm; and / or, There are multiple arms, at least one obstacle avoidance module is arranged at the end of each arm, and the signal transceiver directions of the obstacle avoidance modules on each arm are arranged staggeredly up and down so that the multiple obstacle avoidance modules form 360° omnidirectional obstacle avoidance.

4. The flight kit according to claim 2, wherein When the fuselage and the functional module are in the combined state, the functional module can lock the arms of the flying device in the extended state.

5. The flight kit according to claim 1, characterized in that, The flying kit further includes a positioning module, the positioning module is arranged on the arm of the flying device, and the positioning module is used to determine information related to the position of the flying device.

6. The flight kit according to claim 1, characterized in that, The functional module has a holding part, the holding part is arranged away from the flying device, the obstacle avoidance module is arranged on the holding part, and the obstacle avoidance module always faces the flight direction of the flying device; and / or, The functional module is provided with a landing gear, and the landing gear is detachably connected to the holding part of the functional module.

7. The flight kit according to claim 1, wherein The functional module includes at least one of the following: a power supply module, a camera module, a video transmission module, a shock absorption module.

8. The flight kit according to claim 7, characterized in that, The flying kit also satisfies at least one of the following situations: Situation 1: In the combined state, the shock absorption module is arranged close to the flying device; Situation 2: In the combined state, the camera module is arranged away from the flying device; Situation 3: In the combined state, the power supply module is used to supply power to the flying device and / or the camera module; Situation 4: In the separated state, the power supply module can supply power to the functional module; Situation 5: In the combined state, the video transmission module is used to transmit video transmission information to the flying device.

9. A flying device, characterized in that, Comprising: An obstacle avoidance module, which is at least used to detect obstacle information in the flight direction; The flying device can be connected to or separated from the functional module so that the flying device and the functional module can be in a combined state or a separated state; In the combined state, the functional module protrudes from the flying device; In the separated state, the functional module can be used alone.

10. A functional module, characterized in that, The functional module can be connected to or separated from the flying device so that the functional module and the flying device can be in a combined state or a separated state; The functional module includes an obstacle avoidance module, which is at least used to detect obstacle information in the flight direction of the flying device; In the combined state, the functional module protrudes from the flying device; In the separated state, the functional module can be used independently.

11. A flight kit, characterized in that, It includes: A flying device; And A functional module, which can be connected to or separated from the flying device so that the functional module and the flying device can be in a combined state or a separated state; Wherein, there is at least one operation module on the functional module. In the combined state, at least one of the operation modules is used to obtain a user operation and determine the working mode of the flying kit according to the user operation. The working mode includes a flight mode and a handheld mode.

12. The flight kit according to claim 11, wherein In the flight mode, the function of at least one of the operation modules is different from that of the operation module in the handheld mode.

13. The flight kit according to claim 12, characterized in that, The functional module can establish an electrical connection with the flying device so that the flying kit is in the flight mode; And / or, the functional module can be disconnected from the flying device to be in the handheld mode.

14. The flight kit according to claim 12, wherein, The operation module includes at least one of the following: a button, a display screen, a knob, a joystick.

15. The flight kit according to claim 12, characterized in that, It further includes a control module, and the control module is communicatively connected to the operation module; In the flight mode, when the operation module is triggered by different triggering methods, the control module controls the flying kit to operate in different ways.

16. The flight kit according to claim 15, characterized in that, The flying kit also satisfies at least one of the following situations: Situation 1: In the flight mode, when the operation module is triggered by a first triggering method, the control module controls the flying kit to take off; Situation 2: In the flight mode, when the operation module is triggered by a second triggering method, the control module controls the functional module to take pictures or controls the pan-tilt of the functional module to rotate; Situation 3: In the handheld mode, when the operation module is triggered by a third triggering method, the control module controls the functional module to take pictures or controls the pan-tilt of the functional module to rotate.

17. The flight kit according to claim 11, characterized in that, The functional module includes at least one of the following: a power supply module, a camera module, a video transmission module, a shock absorption module.

18. The flight kit according to claim 17, characterized in that, In the flight mode, the power supply module supplies power to the flying device and the camera module of the functional module respectively; and / or In the handheld mode, the power supply module can supply power to the functional module.

19. A flying device, characterized in that, The flying device can be connected to or separated from the functional module so that the flying device and the functional module can be in a combined state or a separated state; The functional module has at least one operation module. In the combined state, at least one of the operation modules is used to obtain the user's operation and determine the working mode between the flying device and the functional module according to the user operation. The working mode includes a flight mode and a handheld mode.

20. A functional module, characterized in that, The functional module can be connected to or separated from the flying device so that the functional module and the flying device can be in a combined state or a separated state; The functional module has at least one operation module. In the combined state, at least one of the operation modules is used to obtain the user's operation and determine the working mode between the flying device and the functional module according to the user operation, and the working mode includes a flight mode and a handheld mode.

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