Hanging device, unmanned aerial vehicle system and control method of unmanned aerial vehicle system

Abstract

The invention relates to the technical field of unmanned aerial vehicles, and discloses a mounting device, an unmanned aerial vehicle system and a control method of the unmanned aerial vehicle system.The mounting device comprises a foot stool sleeve, a hanging assembly and an opening and closing driving assembly; one end of the foot stool sleeve is used for being connected with a main unmanned aerial vehicle, the hanging assembly and the opening and closing driving assembly are both arranged in the foot stool sleeve, and the foot stool sleeve further comprises an open end; an opening is formed in the side, close to the open end of the foot stool sleeve, of the hanging assembly, and the opening and closing driving assembly is connected with the foot stool sleeve and the hanging assembly and used for adjusting the size of the opening. According to the mounting device, the unmanned aerial vehicle system and the control method of the unmanned aerial vehicle system, hanging and releasing of the sub unmanned aerial vehicle and the main unmanned aerial vehicle can be conveniently and rapidly achieved.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a mounting device, an unmanned aerial vehicle (UAV) system, and a control method for the UAV system. Background Art

[0002] Mounting multiple small drones on the lower end of a large drone's tripod is an innovative drone formation technology that can achieve multiple functions such as coordinated reconnaissance, communication relay, and target designation. This technology has potential application value in both military and civilian fields.

[0003] With the development of multi-rotor drone technology, its application areas are becoming increasingly broad. For example, drones can be used for aerial photography, inspections, communication relays, and patrols. These tasks require multi-rotor drones to mount multiple devices for multi-angle photography or multi-tasking operations. However, the number of devices a single multi-rotor drone can carry is limited. More often, to more efficiently complete drone aerial photography, inspections, or patrols, a large, long-range multi-rotor drone is required to stably mount multiple small multi-rotor drones, each carrying multiple devices. The small multi-rotor drones can then be automatically released upon reaching the operational airspace. The technical challenge we need to address is how to stably mount multiple small multi-rotor drones on a large, long-range multi-rotor drone, and then automatically release them upon reaching the operational airspace.

[0004] In addition, when a large multi-rotor drone with long flight endurance stably carries multiple small multi-rotor drones for flight, how to ensure the stability of the small multi-rotor drones as they move in pitch, roll, yaw, forward and backward, and lateral directions along with the large multi-rotor drone is also a technical problem that we need to solve. Summary of the Invention

[0005] In view of this, the embodiments of the present application provide a mounting device, a drone system, and a control method for the drone system, which can realize the attachment and release of the drone and the sub-drone more conveniently and quickly.

[0006] Specifically, the embodiments of the present application include the following technical solutions:

[0007] A first aspect of an embodiment of the present application provides a mounting device, which is applied to a main UAV, and the mounting device includes a tripod sleeve, a mounting assembly, and an opening and closing drive assembly;

[0008] One end of the tripod sleeve is used to connect to the main UAV, the hook assembly and the opening and closing drive assembly are both arranged inside the tripod sleeve, and the tripod sleeve also includes an open end;

[0009] The side of the hanging component close to the open end of the tripod sleeve is provided with an opening, and the opening and closing driving component is respectively connected to the tripod sleeve and the hanging component and is used to adjust the size of the opening.

[0010] In one embodiment of the present application, the hitch assembly includes a first hitch member and a second hitch member;

[0011] The first hanging member and the second hanging member are both hinged to the tripod sleeve;

[0012] The opening and closing drive assembly is connected to the first hanging member and the second hanging member respectively, and is used to adjust the spacing distance between the first free end of the first hanging member and the first free end of the second hanging member, and the opening is formed at the spacing distance.

[0013] In one embodiment of the present application, the lower end of the first hanging member protrudes toward the second hanging member and forms a first hook;

[0014] The lower end of the second hanging member protrudes toward the first hanging member to form a second hook, and the opening is formed at the interval between the first hook and the second hook;

[0015] Preferably, a first through hole and a second through hole are formed on the side wall of the tripod sleeve; the first hook is hinged to the first through hole, and the second hook is hinged to the second through hole;

[0016] The hook assembly includes an expanded state, the first through hole is used to expose the first hook when the hook assembly is in the expanded state, and the second through hole is used to expose the second hook when the hook assembly is in the expanded state.

[0017] In one embodiment of the present application, a first groove is provided on the outer wall of the upper end of the first hanging member, and a second groove is provided on the outer wall of the upper end of the second hanging member;

[0018] The opening and closing drive assembly includes an annular elastic member, and the annular elastic member is sleeved in the first groove and the second groove;

[0019] Preferably, the first groove is a U-shaped groove; and / or the second groove is a U-shaped groove;

[0020] Preferably, a cavity is provided inside the tripod sleeve, and the opening and closing drive assembly further comprises an electromagnet and a sliding lock;

[0021] The electromagnet is located in the cavity and is electrically connected to the main drone, and generates magnetic attraction when powered on;

[0022] The sliding lock member is located in the cavity and is capable of sliding in the cavity along the axial direction of the cavity; wherein the sliding lock member is slidably connected to the first hanging member and the second hanging member respectively, and is used to reduce the size of the opening when moving closer to the electromagnet;

[0023] Preferably, the opening and closing drive assembly further comprises a connecting piece, and the electromagnet portion is sleeved and fixed on the connecting piece;

[0024] The cavity includes a first section, a second section and a third section connected in sequence. The connecting member is located in the first section and is detachably connected to the first section. The electromagnet and the sliding lock member are both located in the second section.

[0025] In one embodiment of the present application, the sliding lock comprises a connecting rod, and a sliding guide magnetic attraction portion and a locking portion that are spaced apart;

[0026] The connecting rod is located between the sliding guide magnetic attraction portion and the locking portion, and the sliding guide magnetic attraction portion and the locking portion are connected through the connecting rod;

[0027] The sliding guide magnetic attraction portion is located between the electromagnet and the annular elastic member and is slidably connected to the inner side of the cavity;

[0028] The locking portion is located on a side of the annular elastic member facing away from the electromagnet and is slidably connected to the first hanging member and the second hanging member respectively.

[0029] In one embodiment of the present application, a first inclined surface is provided on an inner wall of an upper end of the first hanging member, and the first inclined surface is inclined so as to be closer to the opening and further away from the second hanging member;

[0030] A second inclined surface is provided on the inner wall of the upper end of the second hanging member, and the second inclined surface is inclined so that the closer it is to the opening, the further away it is from the first hanging member;

[0031] The locking portion comprises a third inclined surface and a fourth inclined surface on opposite sides. The third inclined surface is slidably connected to the first inclined surface, and the second inclined surface is slidably connected to the fourth inclined surface.

[0032] A second aspect of the embodiments of the present application provides a drone system, the drone system comprising a master drone, at least one mounting device according to any one of claims 1 to 3, and at least one slave drone;

[0033] The mounting device is connected to the master drone and is used for mounting connection with the sub-drone.

[0034] In one embodiment of the present application, the sub-UAV includes a body and a mounting fitting;

[0035] The mounting fitting is provided on the outer wall of the body and is used for mounting and connecting with the mounting assembly;

[0036] Preferably, the mounting fitting comprises a mounting bracket and a mounting cap, one end of the mounting bracket is connected to the machine body, and the other end of the mounting bracket is connected to the mounting cap;

[0037] Wherein, the area of ​​the lower end surface of the hanging cap is larger than the cross-sectional area of ​​the hanging bracket; and / or,

[0038] The area of ​​the lower end surface of the hanging cap is larger than the size of the opening when the hanging assembly is in a closed state.

[0039] In one embodiment of the present application, the hanging cap is provided with at least one pair of hanging grooves, the hanging grooves being used for hanging connection with the hanging assembly, wherein each pair of the hanging grooves includes two hanging grooves arranged oppositely;

[0040] Preferably, the cross-sectional area of ​​the third section is greater than or equal to the area of ​​the lower end surface of the hanging cap.

[0041] A third aspect of the present application provides a control method for the above-mentioned drone system, the control method comprising:

[0042] Controlling the opening and closing drive assembly so that the size of the opening is greater than or equal to a set threshold;

[0043] Controlling the mounting device on the master drone to align with the mounting fitting on the slave drone, and controlling the master drone and / or the slave drone to move toward each other;

[0044] Controlling the opening and closing drive assembly so that the size of the opening is smaller than the set threshold;

[0045] The main UAV is controlled to take off, and after receiving a release control signal, the opening and closing drive assembly is controlled so that the size of the opening is greater than or equal to the set threshold value to release the sub-UAV.

[0046] In one embodiment of the present application, before the step of controlling the opening and closing drive assembly so that the size of the opening is greater than or equal to the set threshold to release the sub-drone after receiving the release control signal, the control method further includes:

[0047] Controlling the master drone to start a hovering state;

[0048] Controlling the sub-UAV to start working and start hovering state;

[0049] Preferably, after receiving the release control signal, controlling the opening and closing drive assembly so that the size of the opening is greater than or equal to the set threshold to release the sub-drone, the control method further includes:

[0050] Control the sub-UAV to move in a direction away from the main UAV; or

[0051] The master UAV is controlled to move in a direction away from the slave UAV.

[0052] The beneficial effects of the technical solutions provided by the embodiments of the present application include at least:

[0053] In the mounting device provided in an embodiment of the present application, one end of a tripod sleeve is used to connect to a main drone, and an opening and closing drive assembly and a mounting assembly are provided inside the tripod sleeve. The opening and closing drive assembly can adjust the size of the mounting assembly's opening. When a sub-drone needs to be mounted to the main drone, the opening of the mounting assembly can be first controlled to increase via the opening and closing drive assembly. Then, by moving the main drone or the sub-drone, the mounting fitting on the sub-drone is inserted into the opening of the mounting assembly through the open end of the tripod sleeve. The opening and closing drive assembly is then controlled to reduce the opening of the mounting assembly (for example, to match the size of the mounting fitting on the sub-drone), completing the mounting. The main drone can then carry the sub-drone in a synchronized flight to a target area or near a target object. At this time, the sub-drone can move synchronously with the main drone to achieve a mounting connection between the main drone and the sub-drone through the mounting device, while also ensuring the stability of the two during synchronized movement. When multiple devices need to work simultaneously, the opening and closing drive assembly can be controlled to expand the opening of the attachment assembly to release the sub-drone, which can then cooperate with the main drone to efficiently complete the operation. The mounting device provided in the embodiment of the application can relatively conveniently and quickly realize the attachment and release of the main drone and the sub-drone, adapting to different application scenarios and operational requirements.

[0054] Furthermore, the drone system and control method provided by the embodiments of the present application enable a master drone to stably mount multiple sub-drones, and automatically release the sub-drones after reaching the operational airspace. For example, by controlling the power supply of an electromagnet, the electromagnet generates a magnetic attraction force on a sliding lock. Under the action of the electromagnetic force, the sliding lock moves upward along the axis of the tripod sleeve, squeezing the upper ends of the first and second hanging members. The upper ends of the first and second hanging members expand, overcoming the elastic restoring force of the annular elastic member. The lower ends of the first and second hanging members retract, causing the first hook of the first hanging member and the second hook of the second hanging member to engage with the mounting slot of the mounting mating member, thereby enabling the master drone to mount the sub-drones. Furthermore, by engaging the first and second hooks with the mounting slots on the mounting mating member, the stability of the sub-drones can be ensured as the master drone moves in pitch, roll, yaw, fore-and-aft, and lateral directions. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0056] Figure 1 A schematic diagram of the structure of the drone system provided in an embodiment of the present application is shown;

[0057] Figure 2 A schematic diagram of the structure of a sub-UAV provided in an embodiment of the present application is shown;

[0058] Figure 3 A cross-sectional view of a mounting device provided in an embodiment of the present application is shown;

[0059] Figure 4 A schematic structural diagram of a sliding lock provided in an embodiment of the present application is shown.

[0060] Reference numerals:

[0061] 100, main drone; 200, sub-drone; 201, fuselage; 202, mounting fitting; 2021, mounting bracket; 2022, mounting cap; 20221, mounting slot;

[0062] 1. Tripod sleeve; 10. Cavity; 101. First section; 102. Second section; 103. Third section; 11. Open end; 13. First through hole; 14. Second through hole;

[0063] 2. Hanging assembly; 20. Opening; 21. First hanging member; 211. First hook; 212. First groove; 213. First inclined surface; 22. Second hanging member; 221. Second hook; 222. Second groove; 223. Second inclined surface;

[0064] 3. Opening and closing drive assembly; 31. Annular elastic member; 32. Electromagnet; 33. Sliding lock member; 331. Sliding guide magnetic attraction portion; 332. Locking portion; 3321. Third inclined surface; 3322. Fourth inclined surface; 333. Connecting rod; 34. Connecting member.

[0065] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0066] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. In order to make the technical solutions and advantages of this application clearer, the following will be combined with the drawings to describe in detail the mounting device, the UAV system, and the control method of the UAV system.

[0067] An embodiment of the present application provides a mounting device, which is applied to a main drone 100. The mounting device includes a tripod sleeve 1, a mounting assembly 2 and an opening and closing drive assembly 3; one end of the tripod sleeve 1 is used to connect with the main drone 100, and the mounting assembly 2 and the opening and closing drive assembly 3 are both arranged inside the tripod sleeve 1, and the tripod sleeve 1 includes an open end 11; the mounting assembly 2 has an opening 20 on one side close to the open end 11 of the tripod sleeve, and the opening and closing drive assembly 3 is respectively connected to the tripod sleeve 1 and the mounting assembly 2, and is used to adjust the size of the opening 20.

[0068] In the mounting device provided in the embodiment of the present application, Figure 1 and Figure 3As shown, one end of the tripod sleeve 1 is used to connect to the main drone 100, and the tripod sleeve 1 is internally provided with a mounting assembly 2 and an opening and closing drive assembly 3. The opening and closing drive assembly 3 can adjust the size of the opening 20 of the mounting assembly 2. When the main drone 100 needs to be mounted with the sub-drone 200, the opening 20 of the mounting assembly 2 can be first controlled by the opening and closing drive assembly 3 to increase. Then, by moving the main drone 100 or the sub-drone 200, the mounting fitting 202 on the sub-drone 200 for mounting can be extended through the open end 11 of the tripod sleeve 1 and into the opening 20 of the mounting assembly 2. Finally, the opening and closing drive assembly 3 is controlled to reduce the opening 20 of the mounting assembly 2, for example, to match the size of the mounting fitting 202 on the sub-drone 200 for mounting, completing the mounting. The main drone 100 can carry the sub-drone 200 to fly synchronously to the target area or near the target object. At this time, the sub-drone 200 can move synchronously with the main drone 100. The mounting device can realize the connection between the sub-drone 200 and the main drone 100 while ensuring the stability of the two when moving synchronously.

[0069] Furthermore, when multiple devices need to work simultaneously, the opening and closing drive assembly 3 can be controlled to enlarge the opening 20 of the attachment assembly 2 to release the sub-drone 200, which can then cooperate with the main drone 100 to efficiently complete the operation. In other words, the attachment device provided in the embodiment of the present application can relatively conveniently and quickly achieve the attachment and release of the main drone 100 and the sub-drone 200 to adapt to different working scenarios and needs.

[0070] It should be noted that the size of the opening 20 refers to the size of the transverse surface of the opening 20. That is, when the size of the opening 20 is different, mounting fittings 202 of different sizes can be allowed to pass through.

[0071] It should also be noted that the tripod sleeve 1 can be a straight tube or other shapes, such as an L-shaped sleeve, a Z-shaped sleeve, etc. Those skilled in the art can select and adjust according to actual needs.

[0072] It should also be noted that the end of the tripod sleeve 1 connected to the main drone 100 can be simply referred to as the connecting end. The open end 11 mentioned above can be the end opposite to the connecting end, or it can be the end not opposite to the open end 11. This embodiment of the present application is not limited to this.

[0073] In one embodiment, if Figure 3 As shown, the tripod sleeve 1 is a straight-cylindrical sleeve, the upper end of which is connected to the main UAV 100 , and the lower end of which is an open end 11 for allowing the mounting fitting 202 on the sub-UAV 200 to pass through.

[0074] In one embodiment of the present application, the tripod sleeve 1 is further used to abut against the load plane when the main drone 100 is placed on the load plane, so as to provide support force for the main drone 100 .

[0075] It should also be noted that the mounting device provided in the embodiments of the present application includes two operating states: an unmounted state and an attached state. The unmounted state refers to the tripod sleeve 1 being connected only to the main drone 100, without the sub-drone 200 being attached. The attached state refers to the main drone being attached to the sub-drone 200 via the mounting device.

[0076] When the mounting device is in an unmounted state and the main drone 100 is placed on a load-bearing surface, the tripod sleeve 1 can abut against the load-bearing surface, thereby supporting the main drone 100. In other words, the tripod sleeve 1 plays a supporting role when in an unmounted state.

[0077] In one embodiment of the present application, Figure 3 As shown, the hanging assembly 2 includes a first hanging member 21 and a second hanging member 22; the first hanging member 21 and the second hanging member 22 are both hinged to the tripod sleeve 1; the opening and closing drive assembly 3 is connected to the first hanging member 21 and the second hanging member 22 respectively, and is used to adjust the spacing distance between the first free end of the first hanging member 21 and the first free end of the second hanging member 22, and an opening 20 is formed at the spacing distance.

[0078] In the mounting device provided in the embodiment of the present application, the first mounting member 21 and / or the second mounting member 22 are controlled by the opening and closing drive assembly 3, so that the distance between the first free end of the first mounting member 21 and the first free end of the second mounting member 22 can be adjusted, that is, the size of the opening 20 can be adjusted. When the sub-drone 200 needs to be attached to or released from the master drone 100, this can be achieved by adjusting the size of the opening 20. The mounting device provided in the embodiment of the present application can relatively conveniently and quickly achieve attachment or release between the master drone 100 and the sub-drone 200.

[0079] It should be noted that the end of the first hanging member 21 close to the open end 11 of the tripod sleeve 1 is the first free end, and the end of the second hanging member 22 close to the open end 11 of the tripod sleeve 1 is also the first free end.

[0080] In one embodiment, the opening and closing drive assembly 3 can control the first hanging member 21 and / or the second hanging member 22 to rotate to adjust the size of the opening 20, so that the sub-drone 200 and the main drone 100 can be hung or released more conveniently and quickly.

[0081] For example, Figure 3Taking the perspective shown as an example, when the sub-drone 200 needs to be attached to the master drone 100, the opening and closing drive assembly 3 can be used to control the first attachment member 21 to rotate counterclockwise while simultaneously controlling the second attachment member 22 to rotate clockwise. This reduces the gap between the first free end of the first attachment member 21 and the first free end of the second attachment member 22, thereby narrowing the opening 20 and enabling attachment. Similarly, when the sub-drone 200 needs to be released, the opening and closing drive assembly 3 can be used to control the first attachment member 21 to move clockwise while simultaneously controlling the second attachment member 22 to rotate counterclockwise, thereby releasing the attachment.

[0082] In one embodiment, the mounting assembly 2 may further include a third mounting member (not shown) and a fourth mounting member (not shown). The third and fourth mounting members are both located within the tripod sleeve 1 and are hingedly connected to the tripod sleeve 1. The opening and closing drive assembly 3 is connected to the third and fourth mounting members, respectively, and is capable of controlling the spacing between the first free end of the third mounting member and the first free end of the fourth mounting member. The first mounting member 21 and the second mounting member 22 are spaced apart along a first direction, and the third and fourth mounting members are spaced apart along a second direction, with the first direction and the second direction being perpendicular to each other. In this case, the first free end of the first hook 21, the first free end of the second hook 22, the first free end of the third hook, and the first free end of the fourth hook define the aforementioned opening 20. When the sub-drone 200 needs to be mounted or released from the main drone 100, the four mounting members can be controlled simultaneously to adjust the size of the opening 20.

[0083] It should be noted that the end of the third hanging member close to the open end 11 of the tripod sleeve 1 is the first free end, and the end of the fourth hanging member close to the open end 11 of the tripod sleeve 1 is also the first free end.

[0084] Optionally, the number of the hanging parts may be at least two, and the number of the hanging parts may be selected and adjusted according to actual needs.

[0085] In one embodiment of the present application, Figure 3 As shown, the lower end of the first hanging member 21 protrudes toward the second hanging member 22 to form a first hook 211; the lower end of the second hanging member 22 protrudes toward the first hanging member 21 to form a second hook 221, and an opening 20 is formed at the interval between the first hook 211 and the second hook 221.

[0086] In the mounting device provided in this embodiment, the first mounting member 21 and the second mounting member 22 are rotatably connected to the tripod sleeve 1, and a first hook 211 is formed at one end of the first mounting member 21, and a second hook 221 is formed at one end of the second mounting member 22. When the sub-drone 200 needs to be mounted or released from the main drone 100, the first mounting member 21 and the second mounting member 22 can be controlled to rotate by the opening and closing drive assembly 3. For example, Figure 3 Taking the perspective shown as an example, the first hook 21 can be controlled to rotate clockwise and the second hook 22 can be controlled to rotate counterclockwise, causing the first hook 211 and the second hook 221 to move away from each other. This causes the opening 20 to widen, allowing the sub-drone 200 to be released. By controlling the first hook 21 to rotate counterclockwise and the second hook 22 to rotate clockwise, causing the first hook 211 and the second hook 221 to move toward each other, the opening 20 becomes smaller, enabling the sub-drone 200 to be connected to the main drone 100. Furthermore, due to the presence of the first hook 211 and the second hook 221, when the mounting member 202 on the sub-drone 200, which is used to mate with the mounting device, is inserted into the opening 20, the first hook 211 and the second hook 221 can abut against it and provide support, thereby limiting the mounting member 202 on the sub-drone 200 in the direction of gravity.

[0087] In one embodiment, the hanging assembly 2 may further include a third hanging member and a fourth hanging member, both of which are rotatably connected to the tripod sleeve 1, and a third hook is provided on the third hanging member, and a fourth hook is provided on the fourth hanging member. The specific principle is the same as that of the aforementioned embodiment with the first hanging member 21 and the second hanging member 22, and will not be elaborated here.

[0088] In this embodiment, the number of hooks is increased, which can provide better support for the sub-drone 200 and limit its position in multiple directions. In other words, it can provide better hanging stability and can be applied to various application scenarios or heavier sub-drones 200.

[0089] In this regard, in one embodiment of the present application, Figure 1 and Figure 3 As shown, the side wall of the tripod sleeve 1 is provided with a first through hole 13 and a second through hole 14 facing each other; a first hook 211 is hingedly connected to the first through hole 13, and a second hook 221 is hingedly connected to the second through hole 14. The hook assembly 2 includes an expanded state, wherein the first through hole 13 is used to expose the first hook 211 when the hook assembly 2 is in the expanded state, and the second through hole 14 is used to expose the second hook 221 when the hook assembly 2 is in the expanded state.

[0090] In the mounting device provided in this embodiment, the tripod sleeve 1 is provided with a first through-hole 13 and a second through-hole 14. This allows the first free end of the first hook 21, as well as a portion adjacent to the first free end, to extend outside the tripod sleeve 1 through the first through-hole 13 when the first hook 21 rotates. This allows the first hook 21 to rotate away from the second hook 22 without interfering with the tripod sleeve 1. Furthermore, the provision of the first through-hole 13 and the second through-hole 14 facilitates assembly of the first hook 11 and the second hook 12. The principles governing the second hook 22 and the second through-hole 14 are similar to those for the first hook 21 and the first through-hole 13, and will not be elaborated upon here.

[0091] In addition, for the embodiment with the third and fourth hanging members, the tripod sleeve 1 may also be provided with a third through hole for exposing the third hook when the third hanging member rotates. A fourth through hole may also be provided for exposing the fourth hook when the fourth hanging member rotates. The principles are the same as those of the aforementioned embodiment and will not be elaborated on here.

[0092] In one embodiment of the present application, Figure 3 As shown, a first groove 212 is provided on the outer wall of the upper end of the first hanging member 21, and a second groove 222 is provided on the outer wall of the upper end of the second hanging member 22; the opening and closing drive assembly 3 includes an annular elastic member 31, which is sleeved in the first groove 212 and the second groove 222.

[0093] It should be noted that, for the first hanging member 21 and the second hanging member 22 , the upper end refers to the end thereof away from the open end 11 of the tripod sleeve 1 , and the lower end refers to the end opposite to the upper end.

[0094] In the mounting device provided in this embodiment, the first hanging member 21 and the second hanging member 22 are both rotatably connected to the tripod sleeve 1, and an annular elastic member 31 is provided. Under the action of the elastic restoring force of the annular elastic member 31, the annular elastic member 31 will always give the first groove 212 and the second groove 222 a force in the direction of approaching each other. Figure 3 Taking the perspective shown in the figure as an example, under the action of the annular elastic member 31, the first hanging member 21 always has a tendency to rotate in the clockwise direction, and the second hanging member 22 always has a tendency to rotate in the counterclockwise direction. Figure 3In the state shown, the first mounting member 21 is rotated a certain angle clockwise, and the second mounting member 22 is rotated a certain angle counterclockwise, causing the opening 20 to become larger, that is, the mounting assembly 2 is always in the deployed state. This arrangement ensures that when the mounting device is not mounted, the mounting assembly 2 is always in the deployed state. The mounting fitting 202 on the sub-drone 200 for mounting can be extended into the opening 20 through the open end 11 of the tripod sleeve 1 at any time. The mounting device and the sub-drone 200 can be mounted without the need to manipulate the mounting assembly 2 in advance, reducing the number of steps and the time required for mounting.

[0095] In addition, the first groove 212 and the second groove 222 are provided to limit the annular elastic member 31 and prevent it from falling off.

[0096] Optionally, the annular elastic member 31 may be a rubber ring, a silicone ring, a circular elastic rope, etc.

[0097] In some embodiments of the present application, the first groove 212 may be a U-shaped groove; and / or the second groove 222 may be a U-shaped groove. If a straight groove is used, a stress point will exist between the groove edge and the annular elastic member 31, which may easily wear and tear the annular elastic member 31. Therefore, using a U-shaped groove can extend the service life of the annular elastic member 31.

[0098] In one embodiment, the tripod sleeve 1 includes a cavity 10. The end of the first mounting member 21 provided with the first groove 212, referred to as the upper end, is located within the cavity 10, and the end of the second mounting member 22 provided with the second groove 222, referred to as the upper end, is located within the cavity. When the first mounting member 21 and the second mounting member 22 are mounted on the mounting fitting 202 of the sub-drone 200, the upper end of the first mounting member 21 abuts against the inner wall of the cavity 10, and the upper end of the second mounting member 22 abuts against the inner wall of the cavity 10, that is, the inner wall of the cavity 10 simultaneously limits the position of the first mounting member 21 and the second mounting member 22.

[0099] In one embodiment of the present application, Figure 3 As shown, a cavity 10 is provided inside the tripod sleeve 1, and the opening and closing drive assembly 3 also includes an electromagnet 32 ​​and a sliding lock 33; the electromagnet 32 ​​is located in the cavity 10, and is electrically connected to the main drone 100, and generates a magnetic attraction when powered on; the sliding lock 33 is located in the cavity 10, and can slide in the cavity 10 along the axial direction of the cavity 10; wherein the sliding lock 33 is respectively slidably connected to the first hanging member 21 and the second hanging member 22, and is used to reduce the size of the opening 20 when moving closer to the electromagnet 32.

[0100] In this embodiment, an electromagnet 32 ​​and a sliding lock 33 are provided. When the sub-drone 200 needs to be attached to the main drone 100, the electromagnet 32 ​​can be controlled to be energized, and the electromagnet 32 ​​generates a magnetic attraction. Under the action of the magnetic attraction, the sliding lock 33 moves toward the direction close to the electromagnet 32. At this time, the sliding lock 33 respectively contacts the first hanging member 21 and the second hanging member 22, forcing the first hanging member 21 and the second hanging member 22 to rotate. Figure 3 Taking the perspective shown as an example, the first hanging member 21 rotates counterclockwise, and the second hanging member 22 rotates clockwise, the opening 20 is reduced, and finally the hanging connection with the main drone 100 is achieved. When the sub-drone 200 needs to be released from the main drone 100, the electromagnet 32 ​​can be controlled to lose power, the magnetic attraction disappears, and the sliding lock member 33 moves toward the direction close to the opening 20 under the action of gravity. At this time, the upper end of the first hanging member 21 and the upper end of the second hanging member 22 are also affected by the elastic restoring force of the annular elastic member 31, and the first hanging member 21 and the second hanging member 22 rotate to Figure 3 Taking the perspective shown as an example, the first hanging member 21 rotates in a clockwise direction and the second hanging member 22 rotates in a counterclockwise direction, the opening 20 increases, and the sub-UAV 200 is finally released.

[0101] It should be noted that when the mounting device is in the unmounted state, the electromagnet 32 ​​loses power, and the first mounting member 21 and the second mounting member 22 are always in the deployed state under the action of the annular elastic member 31 and the sliding lock member.

[0102] In one embodiment of the present application, the sliding lock 33 includes a connecting rod 333, and a sliding guide magnetic portion 331 and a locking portion 332 arranged at intervals; the connecting rod 333 is located between the sliding guide magnetic portion 331 and the locking portion 332, and the sliding guide magnetic portion 331 and the locking portion 332 are connected through the connecting rod 333; the sliding guide magnetic portion 331 is located between the electromagnet 32 ​​and the annular elastic member 31, and is slidably connected to the inner side of the cavity 10; the locking portion 332 is located on the side of the annular elastic member 31 away from the electromagnet 32, and is slidably connected to the first hanging member 21 and the second hanging member 22 respectively.

[0103] In the mounting device provided in this embodiment, the sliding guide magnetic attraction portion 331 is closer to the electromagnet 32 ​​and is used to connect with the electromagnet 32. The locking portion 332 is closer to the opening 20 and abuts against the first and second mounting members 21 and 22, respectively. When subjected to a force, it can force the first and second mounting members 21 and 22 to rotate, thereby completing the mounting or release of the sub-drone 200 from the main drone 100. Specifically, when the electromagnet 32 ​​is energized, a magnetic attraction is generated, and the sliding guide magnetic attraction portion 331 moves toward the electromagnet 32 ​​under the action of the magnetic attraction. The sliding guide magnetic attraction portion 331 drives the locking portion 332 upward via the connecting rod 333. The locking portion 332 applies a force to the first and second mounting members 21 and 22, forcing the first mounting member 21 to rotate counterclockwise and the second mounting member 22 to rotate clockwise, thereby narrowing the opening and achieving the mounting or release of the sub-drone 100 from the main drone 200.

[0104] For the embodiment with the third and fourth hanging members, the sliding lock member 33 can also force the third and fourth hanging members to rotate when moving. The principle is the same as that of the above embodiment and will not be elaborated here.

[0105] In one embodiment of the present application, Figure 3 and Figure 4 As shown, a first inclined surface 213 is provided on the inner wall of the upper end of the first hanging member 21, and the first inclined surface 213 is inclined so that the closer it is to the opening 20, the further away it is from the second hanging member 22; a second inclined surface 223 is provided on the inner wall of the upper end of the second hanging member 22, and the second inclined surface 223 is inclined so that the closer it is to the opening 20, the further away it is from the first hanging member 21; the opposite sides of the locking portion 332 include a third inclined surface 3321 and a fourth inclined surface 3322, the third inclined surface 3321 is slidably connected to the first inclined surface 213, and the second inclined surface 223 is slidably connected to the fourth inclined surface 3322.

[0106] In the mounting device provided in this embodiment, when the locking portion 332 moves, the third inclined surface 3321 can exert a force perpendicular to the first inclined surface 213 on the first inclined surface 213, thereby forcing the first mounting member 21 to rotate. The fourth inclined surface 3322 can exert a force perpendicular to the second inclined surface 223 on the second inclined surface 223, thereby forcing the second mounting member 22 to rotate, thereby achieving attachment or release of the sub-drone 200 from the master drone 100. Specifically, when the electromagnet 32 ​​is energized, a magnetic attraction is generated, and the sliding guide magnetic attraction portion 331 moves toward the electromagnet 32 ​​under the action of the magnetic attraction. The sliding guide magnetic attraction portion 331 drives the locking portion 332 upward via the connecting rod 333. The locking portion 332 exerts a force on the first inclined surface 213 via the third inclined surface 3321, forcing the first mounting member 21 to rotate counterclockwise. The fourth inclined surface 3322 applies a force to the second inclined surface 223 , forcing the second connecting member 22 to rotate clockwise, thereby making the opening smaller, thereby achieving the connection between the sub-UAV 200 and the master UAV 100 .

[0107] Furthermore, when the electromagnet 32 ​​loses power, the magnetic attraction disappears, and the sliding guide magnetic attraction portion 331 moves away from the electromagnet 32 ​​under the action of gravity, causing the entire sliding lock 33 to move downward. At this time, the first and second hanging members 21 and 22 rotate under the action of the annular elastic member 31. The upper ends of the first and second hanging members 21 and 22 exert a force on the locking portion 332 via the first and second inclined surfaces 213 and 223. This forces the upper ends of the first and second hanging members 21 and 22 against the locking portion 332, causing the entire sliding lock 33 to move downward along the axial direction of the tripod sleeve 1.

[0108] Similarly, for embodiments with third and fourth attachments, these attachments can also be provided with inclined surfaces, with corresponding inclined surfaces provided on the locking portion 332, to facilitate attachment or release of the sub-drone 200 from the master drone 100. The principles are the same as those of the previous embodiments and will not be elaborated upon here.

[0109] In one embodiment of the present application, Figure 3As shown, the opening and closing drive assembly 3 also includes a connector 34, on which a portion of the electromagnet 32 ​​is mounted and fixed. The cavity 10 includes a first section 101 and a second section 102, which are sequentially connected. The connector 34 is located within the first section 101 and is detachably connected thereto. The electromagnet 32 ​​and the sliding lock 33 are both located within the second section 102. In this embodiment, the electromagnet 32 ​​is detachably connected to the tripod sleeve 1 via the connector 34, allowing operators to easily repair and replace the electromagnet 32 ​​and / or the tripod sleeve 1. The first section of the cavity 10 is used to achieve a detachable connection with the connector 34, while the second section of the cavity 10 is used to accommodate the electromagnet 32 ​​and the sliding lock 33.

[0110] In one embodiment of the present application, the sliding guide magnetic attraction portion 331 is slidably connected to the inner wall of the second section 102. That is, the inner wall of the second section 102 can provide a guide when the sliding guide magnetic attraction portion 331 moves up and down, ensuring its stability during sliding.

[0111] An embodiment of the present application also provides a drone system, which includes a main drone 100, at least one of the above-mentioned mounting devices, and at least one sub-drone 200; the mounting device is connected to the main drone 100 and is used to be mounted and connected to the sub-drone 200.

[0112] Optionally, the master drone 100 may be connected to multiple mounting devices, and the number of slave drones 200 may also be multiple, thereby enabling the master drone 100 to simultaneously attach to or release multiple slave drones 200. The number of mounting devices and slave drones 200 may be selected and adjusted based on actual needs.

[0113] It should be noted that the drone system provided in the embodiments of this application includes two operating modes. In the first operating mode, the master drone 100 is not attached to a sub-drone 200, and the master drone 100 can operate independently. In the second operating mode, the master drone 100 can be attached to at least one sub-drone 200, and the master drone 100 can cooperate with the sub-drone 200 to perform comprehensive operations, such as multi-angle photography. Those skilled in the art can select or adjust the operating mode as needed.

[0114] In one embodiment of the present application, Figure 2As shown, the sub-drone 200 includes a body 201 and a mounting assembly 202. The mounting assembly 202 is mounted on the outer wall of the body 201 and is used to connect with the mounting assembly 2. The mounting assembly 202 provided on the sub-drone 200 facilitates a removable connection between the mounting device and the mounting assembly 202. Furthermore, the connection between the mounting device and the mounting assembly 202 provides greater stability, ensuring the stability of the sub-drone 200 and the master drone 100 during synchronized movement.

[0115] In one embodiment of the present application, Figure 2 and Figure 3 As shown, the mounting fitting 202 includes a bracket 2021 and a mounting cap 2022, one end of the bracket 2021 is connected to the body 201, and the other end of the bracket 2021 is connected to the mounting cap 2022; wherein, the area of ​​the lower end surface of the mounting cap 2022 is larger than the cross-sectional area of ​​the bracket 2021; and / or, the area of ​​the lower end surface of the mounting cap 2022 is larger than the size of the opening 20 when the mounting assembly 2 is in a closed state.

[0116] like Figure 3 As shown, a mounting cap 2022 is provided at one end of the pylon 2021 facing away from the body 201. The area of ​​the lower end surface of the mounting cap 2022 is larger than the cross-sectional area of ​​the pylon 2021, that is, the mounting cap 2022 partially protrudes from the pylon 2021 to form a "mounting eave" for easy mounting. The mounting assembly 2 can be supported by the surface of the mounting cap 2022 for connection with the pylon 2021. Furthermore, when the mounting assembly 2 is in the closed state, the opening 20 is minimized, and the area of ​​the lower end surface of the mounting cap 2022 is larger than the size of the opening 20, that is, the mounting cap 2022 is confined within the opening 20, thereby achieving a mounting connection between the mounting assembly 2 and the sub-drone 200.

[0117] In one embodiment of the present application, the mounting cap 2022 is provided with at least one pair of mounting slots 20221 for mounting with the mounting assembly 2, wherein each pair of mounting slots 20221 includes two opposing mounting slots 20221. For example, the mounting assembly 2 may be provided with a member that cooperates with the mounting slots 20221, such as a first hook 211 and a second hook 221. When the mounting assembly 2 is in a closed state, the first hook 211 and the second hook 221 precisely extend into the mounting slots 20221, achieving a mounting connection between the two. Furthermore, after mounting, the sub-drone 200 can move synchronously with the master drone 100, for example, performing pitch, roll, yaw, forward and backward motion, and side-to-side motion with the master drone 100. This means that the mounting device not only achieves the mounting connection between the sub-drone 200 and the master drone 100, but also ensures the stability of the two during synchronous movement.

[0118] In addition, after the sub-drone 200 is mounted on the main drone 100, the upper end of the sub-drone 200 contacts the lower end of the tripod sleeve 1, which can prevent the sub-drone 200 from shaking or rotating due to the pitch, roll, yaw, forward and backward movement and lateral movement of the main drone 100.

[0119] Optionally, there may be multiple hanging slots 20221 , which can be selected and adjusted according to actual needs.

[0120] In one embodiment, four hanging grooves 20221 are provided on the hanging cap 2022, and the four hanging grooves 20221 are arranged at intervals along the circumference of the hanging cap 2022. The hanging assembly 2 includes four hanging parts, and the mounting device is hung and connected with the four hanging grooves 20221 through the four hanging parts.

[0121] It should be noted that the cross-sectional area of ​​the third section 103 can be greater than or equal to the area of ​​the lower end surface of the attachment cap 2022. When the sub-drone 200 is attached to the main drone 100, the attachment cap 2022 extends from the open end 11 of the tripod sleeve 1 and moves toward the opening 20. During this movement, the inner wall of the third section 103 can provide a certain degree of guidance for the attachment cap 2022, making it more stable during movement.

[0122] The present application also provides a control method for the above-mentioned UAV system, which includes:

[0123] Control the opening and closing drive assembly 3 so that the size of the opening 20 is greater than or equal to the set threshold

[0124] Controlling the mounting device on the master drone 100 to align with the mounting fitting 202 on the slave drone 200, and controlling the master drone 100 and / or the slave drone 200 to move toward each other;

[0125] Controlling the opening and closing drive assembly 3 so that the size of the opening 20 is smaller than a set threshold;

[0126] The drone 100 is controlled to take off, and after receiving the release control signal, the opening and closing drive assembly 3 is controlled so that the size of the opening 20 is greater than or equal to the set threshold value to release the sub-drone 200.

[0127] It should be noted that the threshold value may be greater than or equal to the area of ​​the lower end surface of the attachment cap 2022. The threshold value may be selected and adjusted as needed. When the cross-sectional area of ​​the opening 20 is greater than or equal to the threshold value, the attachment assembly 2 and the sub-drone 200 are released. When the cross-sectional area of ​​the opening 20 is less than the threshold value, the attachment assembly 2 and the sub-drone 200 are attached.

[0128] It should also be noted that controlling the master drone 100 and / or the slave drone 200 to move toward each other includes three situations.

[0129] In the first case, the master drone 100 can be controlled to fly above the slave drone 200 and then controlled to fall. Alternatively, the master drone 100 can be moved to above the slave drone 200 by manual or robotic manipulation and then controlled to fall.

[0130] In the second case, the sub-drone 200 can be controlled to fly below the main drone 100 and then controlled to rise. Alternatively, the sub-drone 200 can be moved to the bottom of the main drone 100 by manual or robotic manipulation and then controlled to rise.

[0131] In the third case, after the master drone 100 and the slave drone 200 maintain an up-and-down posture, the master drone 100 can be controlled to descend and the slave drone 200 to ascend at the same time.

[0132] It should be noted that the up and down here refers to the relative state of the master drone 100 and the slave drone 200, and does not necessarily mean that they are in the up and down positions in the direction of gravity. They can also be two relative positions such as left and right, front and back.

[0133] In one embodiment of the present application, after receiving the release control signal, the opening and closing drive component 3 is controlled so that the size of the opening 20 is greater than or equal to the set threshold to release the sub-drone 200. Before the step, the control method also includes: controlling the main drone 100 to start the hovering state, controlling the sub-drone 200 to start working, and starting the hovering state.

[0134] Before releasing the sub-drone 200, the main drone 100 must first be controlled to enter a hovering state, ensuring that it is relatively stable. The sub-drone 200 is then controlled to begin operation and enter a hovering state. This ensures that the lift of the main drone 100 is reduced to the same level as its own weight. This ensures that the positions and states of the main drone 100 and sub-drone 200 are relatively controllable, effectively preventing collisions with the main drone 100 or other objects during release, reducing the likelihood of accidents and ensuring the safety of the drone equipment. Furthermore, a stable hovering state helps the sub-drone 200 quickly establish stable flight after release, reducing the probability of dangerous situations such as crashes due to loss of control.

[0135] In one embodiment of the present application, after receiving the release control signal, controlling the opening and closing drive assembly 3 so that the size of the opening 20 is greater than or equal to a set threshold to release the sub-drone 200, the control method further includes:

[0136] Control the slave drone 200 to move away from the master drone 100; or

[0137] The master drone 100 is controlled to move away from the slave drone 200 .

[0138] After controlling the opening and closing drive assembly 3 to enlarge the opening 20, both the master drone 100 and the slave drones 200 are in a hovering state. At this point, the master drone can be controlled to ascend, allowing all the slave drones 200 to simultaneously separate from the master drone 100. Alternatively, one or more slave drones 200 can be controlled to descend, allowing the slave drones 200 to separate from the master drone 100 one by one or simultaneously.

[0139] Specifically, the control method of the drone system is described based on the specific structure in the above embodiment. The control method of the drone system provided in the embodiment of the present application may specifically include the following steps:

[0140] Step S1: On the ground, the electromagnet 32 ​​loses power, and the sliding lock 33 moves downward under the action of gravity. At the same time, under the elastic restoring force of the annular elastic member 31, the first hanging member 21 and the second hanging member 22 rotate around the hinge axis with the tripod sleeve 1, so that the lower ends of the first hanging member 21 and the second hanging member 22 are opened;

[0141] Step S2: Insert the attachment cap 2022 on the upper end of the sub-drone 200 from the lower end of the tripod sleeve 1 until the body 201 of the sub-drone 200 contacts the lower end of the tripod sleeve 1;

[0142] Step S3: The electromagnet 32 ​​in the opening and closing drive assembly 3 is energized to generate a magnetic attraction force, which then pulls the entire sliding lock 33 upward, causing the sliding guide magnetic attraction portion 331 to move upward with the locking portion 332 through the connecting rod 333 under the guidance of the second section 102 of the cavity 10;

[0143] Step S4: The third inclined surface 3321 on the locking portion 332 is slidably constrained against the first inclined surface 213, and the fourth inclined surface 3322 on the locking portion 332 is slidably constrained against the second inclined surface 223, so that the first hanging member 21 and the second hanging member 22 respectively rotate about the hinge axis with the tripod sleeve 1, so that the lower ends of the first hanging member 21 and the second hanging member 22 are retracted until the first hook 211 at the lower end of the first hanging member 21 is hooked into the hanging groove 20221, and the second hook 221 at the lower end of the second hanging member 22 is hooked into the hanging groove 20221, thereby achieving the mounting of the sub-UAV 200 by the master UAV 100;

[0144] Step S5: The master UAV 100 takes off with at least one slave UAV 200;

[0145] Step S6: Arriving at the target area, the master UAV 100 hovers;

[0146] Step S7: The slave drone 200 starts and hovers. At the same time, the lift of the master drone 100 is reduced to be equal to the weight of the master drone 100, ensuring that the master drone 100 hovers.

[0147] Step S8: In the air, the electromagnet 32 ​​loses power, and the sliding lock 33 moves downward under the action of gravity. At the same time, under the elastic restoring force of the annular elastic member 31, the first hanging member 21 and the second hanging member 22 respectively rotate around the hinge axis with the tripod sleeve 1, so that the lower ends of the first hanging member 21 and the second hanging member 22 are opened; until the first hook 211 at the lower end of the first hanging member 21 is disengaged from the hanging groove 20221, and the second hook 221 at the lower end of the second hanging member 22 is disengaged from the hanging groove 20221, thereby achieving the separation of the sub-UAV 200 from the main UAV 100;

[0148] Step S9: The master drone 100 takes off upward and away from the slave drone 200, and the slave drone 200 performs operations.

[0149] In this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. The term "plurality" refers to two or more than two, unless expressly limited otherwise.

[0150] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only.

[0151] It should be understood that the present application is not limited to the exact structures described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A mounting device, applied to a host drone (100), characterized in that: The mounting device comprises a tripod sleeve (1), a mounting assembly (2) and an opening and closing drive assembly (3); One end of the tripod sleeve (1) is used for connecting to the main UAV (100), the attachment assembly (2) and the opening and closing drive assembly (3) are both arranged inside the tripod sleeve (1), and the tripod sleeve (1) further comprises an open end; The hook assembly (2) has an opening (20) on one side close to the open end of the tripod sleeve (1); the opening and closing drive assembly (3) is connected to the tripod sleeve (1) and the hook assembly (2) respectively, and is used to adjust the size of the opening (20).

2. The mounting device according to claim 1, characterized in that: The hanging assembly (2) comprises a first hanging member (21) and a second hanging member (22); The first hanging member (21) and the second hanging member (22) are both hingedly connected to the tripod sleeve (1); The opening and closing drive assembly (3) is connected to the first hanging member (21) and the second hanging member (22) respectively, and is used to adjust the spacing distance between the first free end of the first hanging member (21) and the first free end of the second hanging member (22), and the opening (20) is formed at the spacing distance.

3. The mounting device according to claim 2, characterized in that: The lower end of the first hanging member (21) protrudes toward the second hanging member (22) to form a first hook (211); The lower end of the second hanging member (22) protrudes toward the first hanging member (21) to form a second hook (221), and the opening (20) is formed at the interval between the first hook (211) and the second hook (221); Preferably, a first through hole (13) and a second through hole (14) are provided on the side wall of the tripod sleeve (1); the first hook (211) is hinged to the first through hole (13), and the second hook (221) is hinged to the second through hole (14); The hook assembly (2) includes an expanded state, the first through hole (13) is used to expose the first hook (211) when the hook assembly (2) is in the expanded state, and the second through hole (14) is used to expose the second hook (221) when the hook assembly (2) is in the expanded state.

4. The mounting device according to claim 2, wherein: The outer wall of the upper end of the first hanging member (21) is provided with a first groove (212), and the outer wall of the upper end of the second hanging member (22) is provided with a second groove (222); The opening and closing drive assembly (3) comprises an annular elastic member (31), and the annular elastic member (31) is sleeved in the first groove (212) and the second groove (222); Preferably, the first groove (212) is a U-shaped groove; and / or the second groove (222) is a U-shaped groove; Preferably, a cavity (10) is provided inside the tripod sleeve (1), and the opening and closing drive assembly (3) further comprises an electromagnet (32) and a sliding lock (33); The electromagnet (32) is located in the cavity (10), is electrically connected to the main drone (100), and generates magnetic attraction when powered on; The sliding lock member (33) is located in the cavity (10) and is capable of sliding in the cavity (10) along the axial direction of the cavity (10); wherein the sliding lock member (33) is slidably connected to the first hanging member (21) and the second hanging member (22) respectively, and is used to reduce the size of the opening (20) when moving toward the electromagnet (32); Preferably, the opening and closing drive assembly (3) further comprises a connecting piece (34), and a portion of the electromagnet (32) is sleeved on and fixed to the connecting piece (34); The cavity (10) comprises a first section (101), a second section (102) and a third section (103) connected in sequence, the connecting member (34) is located in the first section (101) and is detachably connected to the first section (101), and the electromagnet (32) and the sliding lock member (33) are both located in the second section (102).

5. The mounting device according to claim 4, characterized in that: The sliding lock member (33) includes a connecting rod (333), and a sliding guide magnetic attraction portion (331) and a locking portion (332) that are spaced apart. The connecting rod (333) is located between the sliding guide magnetic attraction portion (331) and the locking portion (332), and the sliding guide magnetic attraction portion (331) and the locking portion (332) are connected via the connecting rod (333); The sliding guide magnetic attraction portion (331) is located between the electromagnet (32) and the annular elastic member (31), and is slidably connected to the inner side of the cavity (10); The locking portion (332) is located on a side of the annular elastic member (31) facing away from the electromagnet (32), and is slidably connected to the first hanging member (21) and the second hanging member (22), respectively.

6. The mounting device according to claim 5, characterized in that: A first inclined surface (213) is provided on the inner wall of the upper end of the first hanging member (21), and the first inclined surface (213) is inclined so that the closer it is to the opening (20), the further away it is from the second hanging member (22); A second inclined surface (223) is provided on the inner wall of the upper end of the second hanging member (22), and the second inclined surface (223) is inclined so as to be closer to the opening (20) and further away from the first hanging member (21); The opposite sides of the locking portion (332) include a third inclined surface (3321) and a fourth inclined surface (3322), the third inclined surface (3321) is slidably connected to the first inclined surface (213), and the second inclined surface (223) is slidably connected to the fourth inclined surface (3322).

7. A drone system, characterized in that: The UAV system comprises a main UAV (100), at least one mounting device according to any one of claims 1 to 6, and at least one sub-UAV (200); The mounting device is connected to the master drone (100) and is used for mounting and connecting with the slave drone (200).

8. The drone system according to claim 7, characterized in that: The sub-UAV (200) comprises a body (201) and a mounting fitting (202); The mounting fitting (202) is arranged on the outer wall of the body (201) and is used for mounting and connecting with the mounting assembly (2); Preferably, the mounting fitting (202) comprises a mounting bracket (2021) and a mounting cap (2022), one end of the mounting bracket (2021) is connected to the machine body (201), and the other end of the mounting bracket (2021) is connected to the mounting cap (2022); Wherein, the area of ​​the lower end surface of the hanging cap (2022) is larger than the cross-sectional area of ​​the hanging bracket (2021); and / or, The area of ​​the lower end surface of the hanging cap (2022) is larger than the size of the opening (20) when the hanging assembly (2) is in a closed state.

9. The UAV system according to claim 8, characterized in that: The hanging cap (2022) is provided with at least one pair of hanging grooves (20221), and the hanging grooves (20221) are used for hanging connection with the hanging assembly (2), wherein each pair of hanging grooves (20221) includes two hanging grooves (20221) arranged opposite to each other; Preferably, the cross-sectional area of ​​the third section (103) is greater than or equal to the area of ​​the lower end surface of the hanging cap (2022).

10. A control method for the UAV system according to claims 7 to 9, characterized in that: The control method includes: Controlling the opening and closing drive assembly (3) so that the size of the opening (20) is greater than or equal to a set threshold; Controlling the mounting device on the master drone (100) to align with the mounting fitting (202) on the slave drone (200), and controlling the master drone (100) and / or the slave drone (200) to move in a direction approaching each other; Controlling the opening and closing drive assembly (3) so that the size of the opening (20) is smaller than the set threshold; The main drone (100) is controlled to take off, and after receiving a release control signal, the opening and closing drive component (3) is controlled so that the size of the opening (20) is greater than or equal to the set threshold value, thereby releasing the sub-drone (200).

11. The control method of the UAV system according to claim 10, characterized in that: Before the step of controlling the opening and closing drive assembly (3) so that the size of the opening (20) is greater than or equal to the set threshold value after receiving the release control signal to release the sub-drone (200), the control method further comprises: Controlling the master drone (100) to start a hovering state; Controlling the sub-drone (200) to start working and start a hovering state; Preferably, after the step of controlling the opening and closing drive assembly (3) so that the size of the opening (20) is greater than or equal to the set threshold value to release the sub-drone (200) after receiving the release control signal, the control method further comprises: Controlling the sub-drone (200) to move in a direction away from the main drone (100); or, The master drone (100) is controlled to move in a direction away from the slave drone (200).

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