Mounting device, unmanned aerial system, and control method for unmanned aerial system

Abstract

The application 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 support sleeve, a hanging assembly and an opening and closing driving assembly. One end of the foot support sleeve is used for being connected with a main unmanned aerial vehicle. The hanging assembly and the opening and closing driving assembly are arranged in the interior of the foot support sleeve. The foot support sleeve further comprises an open end. One side of the hanging assembly close to the open end of the foot support sleeve is provided with an opening. The opening and closing driving assembly is connected with the foot support sleeve and the hanging assembly respectively and is used for adjusting the size of the opening. The mounting device, the unmanned aerial vehicle system and the control method of the unmanned aerial vehicle system provided by the application can conveniently and quickly realize the hanging and releasing of a sub unmanned aerial vehicle and a main unmanned aerial vehicle.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, specifically to a mounting device, an UAV system, and a control method for the UAV system. Background Technology

[0002] The innovative drone swarm technology, which involves mounting multiple smaller drones on the lower end of a large drone's tripod, enables various functions such as coordinated reconnaissance, communication relay, and target designation. This technology has potential applications 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 are used for aerial photography, inspection, as communication relay platforms, and patrol operations. These tasks often require multi-rotor drones to carry multiple devices for multi-view photography or multi-tasking, as the number of devices a single multi-rotor drone can carry is limited. More often, to efficiently complete drone aerial photography, inspection, or patrol operations, a large, long-endurance multi-rotor drone is needed to stably carry multiple smaller multi-rotor drones carrying various devices, and the smaller drones should be automatically released after reaching the operational airspace. How to achieve this stable carrying of multiple smaller multi-rotor drones by a large, long-endurance multi-rotor drone, with automatic release after reaching the operational airspace, is a technical problem we need to solve.

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

[0005] In view of this, embodiments of this application provide a mounting device, an unmanned aerial vehicle (UAV) system, and a control method for the UAV system, which can conveniently and quickly realize the attachment and release of UAVs and sub-UAVs.

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

[0007] The first aspect of this application provides a mounting device for use with a main unmanned aerial vehicle (UAV). The mounting device includes a landing gear sleeve, a mounting assembly, and an opening / closing drive assembly.

[0008] One end of the tripod sleeve is used to connect to the main UAV. The mounting component and the opening and closing drive component are both disposed inside the tripod sleeve. The tripod sleeve also includes an open end.

[0009] The mounting assembly has an opening on the side near the open end of the tripod sleeve. The opening and closing drive assembly is connected to the tripod sleeve and the mounting assembly respectively, and is used to adjust the size of the opening.

[0010] In one embodiment of this application, the mounting component includes a first mounting member and a second mounting member;

[0011] Both the first and second hook-fitting components are hinged to the tripod sleeve;

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

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

[0014] The lower end of the second hook protrudes toward the first hook and forms a second hook, with the opening formed at the interval between the first hook and the second hook;

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

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

[0017] In one embodiment of this application, the upper outer wall of the first hook member is provided with a first groove, and the upper outer wall of the second hook member is provided with a second groove;

[0018] The opening and closing drive assembly includes an annular elastic element, which 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, the tripod sleeve has a cavity inside, and the opening and closing drive assembly further includes an electromagnet and a sliding lock.

[0021] The electromagnet is located inside the cavity and is electrically connected to the main UAV, and generates magnetic attraction when energized;

[0022] The sliding lock is located within the cavity and is capable of sliding along the axial direction of the cavity; wherein the sliding lock is slidably connected to the first hook and the second hook 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 includes a connector, and a portion of the electromagnet is sleeved and fixed to the connector;

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

[0025] In one embodiment of this application, the sliding lock includes a connecting rod, and a sliding guide magnetic part and a locking part arranged at intervals;

[0026] The connecting rod is located between the sliding guide magnetic part and the locking part, and the sliding guide magnetic part and the locking part are connected by the connecting rod;

[0027] The sliding guide magnetic suction part is located between the electromagnet and the annular elastic element, and is slidably connected to the inner side of the cavity;

[0028] The locking part is located on the side of the annular elastic member opposite to the electromagnet, and is slidably connected to the first hook and the second hook respectively.

[0029] In one embodiment of this application, the upper inner wall of the first hook member is provided with a first inclined surface, and the first inclined surface is inclined such that the closer it is to the opening, the further away it is from the second hook member;

[0030] The upper inner wall of the second hook is provided with a second inclined surface, and the second inclined surface is inclined such that the closer it is to the opening, the further away it is from the first hook.

[0031] The locking part includes 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 this application provides an unmanned aerial vehicle (UAV) system, the UAV system comprising a main UAV, at least one mounting device as described in any one of the claims, and at least one sub-UAV;

[0033] The mounting device is connected to the main UAV and is used for mounting and connecting with the sub-UAV.

[0034] In one embodiment of this application, the sub-drone includes a body and mounting components;

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

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

[0037] Wherein, the area of ​​the lower end face of the hook cap is greater than the cross-sectional area of ​​the bracket; and / or,

[0038] The area of ​​the lower end face of the hook cap is greater than the size of the opening when the hook assembly is in the closed state.

[0039] In one embodiment of this application, the mounting cap is provided with at least one pair of mounting slots, the mounting slots being used to mount and connect with the mounting assembly, wherein each pair of mounting slots includes two mounting slots arranged opposite to each other.

[0040] Preferably, the cross-sectional area of ​​the third segment is greater than or equal to the area of ​​the lower end face of the hook cap.

[0041] A third aspect of this application provides a control method for the aforementioned unmanned aerial vehicle (UAV) system, the control method comprising:

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

[0043] Align the mounting device on the main UAV with the mounting mating part on the sub-UAV, and control the main UAV and / or sub-UAV to move toward each other;

[0044] Control the opening and closing drive component so that the size of the opening is less than the set threshold;

[0045] The main UAV is controlled to take off, and upon receiving a release control signal, the opening and closing drive component is controlled to make the size of the opening greater than or equal to the set threshold in order to release the sub-UAV.

[0046] In one embodiment of this application, before the step of controlling the opening / closing drive component to make the size of the opening greater than or equal to the set threshold after receiving the release control signal to release the sub-drone, the control method further includes:

[0047] Control the main UAV to initiate hovering mode;

[0048] Control the sub-drone to start working and initiate hovering mode;

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

[0050] Control the sub-drone to move away from the main drone; or,

[0051] Control the main UAV to move away from the sub-UAV.

[0052] The beneficial effects of the technical solutions provided in this application include at least the following:

[0053] In the mounting device provided in this embodiment, one end of the landing gear sleeve is used to connect to the main UAV, and the landing gear sleeve is provided with an opening and closing drive component and a mounting component. The opening and closing drive component can adjust the size of the opening of the mounting component. When the sub-UAV needs to be mounted to the main UAV, the opening of the mounting component can be increased by controlling the opening and closing drive component. Then, by moving the main UAV or the sub-UAV, the mounting fitting on the sub-UAV is inserted into the opening of the mounting component through the open end of the landing gear sleeve. Then, the opening and closing drive component is controlled to reduce the opening of the mounting component (for example, to match the size of the mounting fitting on the sub-UAV), thus completing the mounting. The main UAV can then carry the sub-UAV and fly synchronously to the target area or near the target object. At this time, the sub-UAV can move synchronously with the main UAV, and the mounting device can achieve the mounting connection between the main UAV and the sub-UAV while ensuring the stability of both during synchronous movement. When multiple devices need to work simultaneously, the opening and closing drive component can be controlled to increase the opening of the mounting component, thereby releasing the sub-drone. The sub-drone can then cooperate with the main drone to efficiently complete the task. The mounting device provided in this application embodiment can conveniently and quickly achieve the attachment and release of the main drone and sub-drones, adapting to different application scenarios and operational requirements.

[0054] Furthermore, the UAV system and control method provided in this application embodiment can stably mount multiple sub-UAVs on a main UAV, and automatically release the sub-UAVs after they fly to the operational airspace. For example, by controlling the electromagnet to be energized, the electromagnet generates a magnetic attraction force on the sliding lock. At this time, the sliding lock moves upward along the axial direction of the landing gear sleeve under the action of electromagnetic force. The sliding lock presses the upper ends of the first and second hooks, and the upper ends of the first and second hooks open against the elastic restoring force of the annular elastic element. The lower ends of the first and second hooks retract, so that the first hook of the first hook and the second hook of the second hook engage the mounting slot of the mounting fitting, realizing the mounting of the sub-UAV by the main UAV. Moreover, by having the first and second hooks engage the mounting slot on the mounting fitting, the stability of the sub-UAVs can be ensured as they move with the pitch, roll, yaw, forward and backward, and lateral movements of the main UAV. Attached Figure Description

[0055] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0056] Figure 1 A schematic diagram of the structure of the unmanned aerial vehicle system provided in an embodiment of this application is shown;

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

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

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

[0060] Figure label:

[0061] 100. Main UAV; 200. Sub-UAV; 201. Airframe; 202. Mounting assembly; 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 component; 211. First hook; 212. First groove; 213. First slope; 22. Second hanging component; 221. Second hook; 222. Second groove; 223. Second slope;

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

[0065] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0066] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. To make the technical solutions and advantages of this application clearer, the mounting device, the unmanned aerial vehicle system, and the control method of the unmanned aerial vehicle system will be described in detail below with reference to the accompanying drawings.

[0067] This application provides a mounting device for a main unmanned aerial vehicle (UAV) 100. The mounting device includes a tripod sleeve 1, a mounting assembly 2, and an opening / closing drive assembly 3. One end of the tripod sleeve 1 is used to connect to the main UAV 100. The mounting assembly 2 and the opening / closing drive assembly 3 are both disposed inside the tripod sleeve 1. The tripod sleeve 1 includes an open end 11. The mounting assembly 2 has an opening 20 on the side near the open end 11 of the tripod sleeve. The opening / closing drive assembly 3 is connected to the tripod sleeve 1 and the mounting assembly 2 respectively, and is used to adjust the size of the opening 20.

[0068] In the mounting device provided in the embodiments of this application, such as Figure 1 and Figure 3As shown, one end of the tripod sleeve 1 is used to connect to the main UAV 100, and the tripod sleeve 1 is equipped with a mounting component 2 and an opening / closing drive component 3. The opening / closing drive component 3 can adjust the size of the opening 20 of the mounting component 2. When the main UAV 100 needs to be mounted with the sub-UAV 200, the opening 20 of the mounting component 2 can be increased by controlling the opening / closing drive component 3. Then, by moving the main UAV 100 or the sub-UAV 200, the mounting fitting 202 on the sub-UAV 200 can be inserted into the opening 20 of the mounting component 2 through the open end 11 of the tripod sleeve 1. Finally, the opening / closing drive component 3 is controlled to reduce the size of the opening 20 of the mounting component 2, for example, to match the size of the mounting fitting 202 on the sub-UAV 200, thus completing the mounting. The main UAV 100 can carry the sub-UAV 200 to fly synchronously to the target area or near the target object. At this time, the sub-UAV 200 can move synchronously with the main UAV 100. Through the mounting device, the sub-UAV 200 and the main UAV 100 can be connected and the stability of the two during synchronous movement can be guaranteed.

[0069] Furthermore, when multiple devices need to work simultaneously, the opening and closing drive component 3 can be controlled to increase the opening 20 of the mounting component 2, thereby releasing the sub-drone 200. The sub-drone 200 can then cooperate with the main drone 100 to efficiently complete the task. In other words, the mounting device provided in this embodiment can conveniently and quickly achieve the attachment and release of the main drone 100 and the sub-drone 200, adapting to different work scenarios and needs.

[0070] It should be noted that the size of opening 20 refers to the size of the horizontal surface of opening 20. That is, different sizes of opening 20 can allow mounting parts 202 of different volumes to pass through.

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

[0072] It should also be noted that the end of the tripod sleeve 1 that connects to the main UAV 100 can be simply referred to as the connecting end. The aforementioned open end 11 can be the end opposite to the connecting end, or it can be the end that is not opposite to the open end 11. This application embodiment does not limit this.

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

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

[0075] It should also be noted that the mounting device provided in this application embodiment includes two working states: an unattached state and an attached state. The unattached state refers to the tripod sleeve 1 being connected only to the main UAV 100, without any sub-UAV 200 attached. The attached state refers to the main UAV being attached to the sub-UAV 200 via the mounting device.

[0076] When the mounting device is not attached and the main UAV 100 is placed on the supporting surface, the tripod sleeve 1 can abut against the supporting surface, thereby supporting the main UAV 100. In other words, the tripod sleeve 1 provides support when not attached.

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

[0078] In the mounting device provided in this application embodiment, the opening and closing drive component 3 controls the first mounting member 21 and / or the second mounting member 22, enabling adjustment of the distance between the first free end of the first mounting member 21 and the first free end of the second mounting member 22. This allows for adjustment of the size of the opening 20. When the sub-drone 200 needs to be mounted or released from the main drone 100, this can be achieved by adjusting the size of the opening 20. The mounting device provided in this application embodiment can conveniently and quickly achieve the mounting or release of the main drone 100 and the sub-drone 200.

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

[0080] In one embodiment, the opening and closing drive component 3 can control the first hook 21 and / or the second hook 22 to rotate in order to adjust the size of the opening 20, so as to conveniently and quickly realize the hooking or release of the sub-drone 200 and the main drone 100.

[0081] For example, with Figure 3Taking the shown perspective as an example, when it is necessary to attach the sub-drone 200 to the main 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. At this time, the gap between the first free end of the first attachment member 21 and the first free end of the second attachment member 22 becomes smaller, and the opening 20 becomes smaller, thereby enabling attachment. Similarly, when it is necessary to release the sub-drone 200, 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, thus 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). Both the third and fourth mounting members are located within the tripod sleeve 1 and are hinged to the tripod sleeve 1. The opening / closing drive assembly 3 is connected to the third and fourth mounting members respectively, and can control the distance between the first free ends of the third and fourth mounting members. The first mounting member 21 and the second mounting member 22 are arranged at intervals along a first direction, and the third and fourth mounting members are arranged at intervals along a second direction, with the first and second directions perpendicular to each other. At this time, the first free ends of the first hook 21, the second hook 22, the third hook, and the fourth hook form the opening 20. When the sub-UAV 200 needs to be mounted or released from the main UAV 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 connector near the open end 11 of the tripod sleeve 1 is the first free end, and the end of the fourth connector near the open end 11 of the tripod sleeve 1 is also the first free end.

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

[0085] In one embodiment of this application, such as Figure 3 As shown, the lower end of the first hook 21 protrudes toward the second hook 22 and forms a first hook 211; the lower end of the second hook 22 protrudes toward the first hook 21 and forms 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 one end of the first mounting member 21 forms a first hook 211, and one end of the second mounting member 22 forms a second hook 221. When the sub-UAV 200 needs to be attached to or released from the main UAV 100, the rotation of the first mounting member 21 and the second mounting member 22 can be controlled by the opening and closing drive assembly 3. For example, with Figure 3 Taking the shown perspective 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. At this time, the opening 20 becomes larger, allowing the sub-drone 200 to be released. Controlling the first hook 21 to rotate counterclockwise and the second hook 22 to rotate clockwise causes the first hook 211 and the second hook 221 to move closer to each other, causing the opening 20 to become smaller, allowing the sub-drone 200 to be hooked to the main drone 100. In addition, due to the presence of the first hook 211 and the second hook 221, when the mounting fitting 202 on the sub-drone 200, which is used to cooperate with the mounting device, extends into the opening 20, the first hook 211 and the second hook 221 can abut against it and provide support force, that is, they can limit the mounting fitting 202 on the sub-drone 200 in the direction of gravity.

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

[0088] In this embodiment, the number of hooks is increased, which provides better support for the sub-drone 200 and also limits its movement in multiple directions. That is, it can provide better attachment stability, is suitable for various application scenarios, or be applied to heavier sub-drones 200.

[0089] In one embodiment of this application, such as Figure 1 and Figure 3 As shown, the side wall of the tripod sleeve 1 has a first through hole 13 and a second through hole 14 facing each other; 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 mounting assembly 2 includes an unfolded state, where the first through hole 13 is used to expose the first hook 211 when the mounting assembly 2 is in the unfolded state, and the second through hole 14 is used to expose the second hook 221 when the mounting assembly 2 is in the unfolded state.

[0090] In the mounting device provided in this embodiment, the tripod sleeve 1 has a first through hole 13 and a second through hole 14. That is, when the first hook 21 rotates, its first free end and the portion near the first free end can extend to the outside of the tripod sleeve 1 through the first through hole 13. In other words, when the first hook 21 rotates away from the second hook 22, it will not interfere with the tripod sleeve 1. Furthermore, the first through hole 13 and the second through hole 14 facilitate the assembly of the first hook 11 and the second hook 12. The principle of the second hook 22 and the second through hole 14 is the same as that of the first hook 21 and the first through hole 13, and will not be elaborated further here.

[0091] In addition, for the embodiments described above that include a third and a fourth connector, a third through hole can also be provided on the leg sleeve 1 to expose the third hook when the third connector rotates. A fourth through hole is also provided to expose the fourth hook when the fourth connector rotates; the principle is the same as in the aforementioned embodiments, and will not be elaborated further here.

[0092] In one embodiment of this application, such as Figure 3 As shown, the upper outer wall of the first hook member 21 is provided with a first groove 212, and the upper outer wall of the second hook member 22 is provided with a second groove 222; 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 connector 21 and the second connector 22, the upper end refers to the end that is away from the open end 11 of the tripod sleeve 1, and the lower end refers to the end that is opposite to the upper end.

[0094] In the mounting device provided in this embodiment, both the first mounting member 21 and the second mounting member 22 are rotatably connected to the tripod sleeve 1, and are provided with an annular elastic member 31. Under the action of the elastic restoring force of the annular elastic member 31, the annular elastic member 31 will constantly exert a force on the first groove 212 and the second groove 222 in a direction that moves them closer to each other. Figure 3 Taking the shown perspective as an example, under the action of the annular elastic element 31, the first connecting member 21 tends to rotate clockwise at any given time, while the second connecting member 22 tends to rotate counterclockwise at any given time. Ultimately, under the action of no external force, compared to... Figure 3As shown, the first mounting component 21 rotates clockwise by a certain angle, and the second mounting component 22 rotates counterclockwise by a certain angle, making the opening 20 larger, meaning that the mounting assembly 2 is always in the unfolded state. This configuration ensures that the mounting assembly 2 remains unfolded when the mounting device is not attached. The mounting fitting 202 on the sub-UAV 200 can extend into the opening 20 at any time through the open end 11 of the landing gear sleeve 1, enabling attachment between the mounting device and the sub-UAV 200 without prior manipulation of the mounting assembly 2, thus reducing operation steps and the time required for attachment.

[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 element 31 can be a rubber ring, a silicone ring, a circular elastic cord, etc.

[0097] In some embodiments of this application, the first groove 212 can be a U-shaped groove; and / or, the second groove 222 can be a U-shaped groove. If a straight groove is used, there will be a stress point between the groove edge and the annular elastic member 31, and the annular elastic member 31 will be easily worn and broken. Therefore, using a U-shaped groove can improve 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 connector 21 with the first groove 212 (hereinafter referred to as the upper end) is located within the cavity 10, and the end of the second connector 22 with the second groove 222 (hereinafter referred to as the upper end) is located within the cavity. After the first connector 21 and the second connector 22 are connected to the mounting fitting 202 on the sub-UAV 200, the upper end of the first connector 21 abuts against the inner wall of the cavity 10, and the upper end of the second connector 22 abuts against the inner wall of the cavity 10. That is, the inner wall of the cavity 10 simultaneously limits the movement of both the first connector 21 and the second connector 22.

[0099] In one embodiment of this application, such as Figure 3 As shown, the tripod sleeve 1 has a cavity 10 inside, and the opening and closing drive assembly 3 also includes an electromagnet 32 ​​and a sliding lock 33; the electromagnet 32 ​​is located inside the cavity 10 and is electrically connected to the main UAV 100, and generates magnetic attraction when energized; the sliding lock 33 is located inside the cavity 10 and can slide along the axial direction of the cavity 10; wherein, the sliding lock 33 is slidably connected to the first hook 21 and the second hook 22 respectively, and is used to reduce the size of the opening 20 when moving towards 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 energized, generating a magnetic force. Under the action of the magnetic force, the sliding lock 33 moves towards the electromagnet 32. At this time, the sliding lock 33 abuts against the first attachment member 21 and the second attachment member 22, forcing the first attachment member 21 and the second attachment member 22 to rotate. Figure 3 Taking the shown perspective as an example, the first connector 21 rotates counterclockwise, and the second connector 22 rotates clockwise, reducing the opening 20 and ultimately achieving a connection with the main drone 100. When the sub-drone 200 needs to be released from the main drone 100, the electromagnet 32 ​​can be de-energized, the magnetic attraction disappears, and the sliding lock 33 moves towards the opening 20 under the influence of gravity. At this time, the upper ends of the first connector 21 and the upper ends of the second connector 22 are also subjected to the elastic restoring force of the annular elastic element 31, causing the first connector 21 and the second connector 22 to rotate. Figure 3 Taking the perspective shown as an example, the first attachment 21 rotates clockwise and the second attachment 22 rotates counterclockwise, increasing the opening 20 and ultimately releasing the sub-UAV 200.

[0101] It should be noted that when the mounting device is in the unattached state, the electromagnet 32 ​​is de-energized, and at this time the first mounting member 21 and the second mounting member 22 are always in the unfolded state under the action of the annular elastic member 31 and the sliding lock member.

[0102] In one embodiment of this application, the sliding lock 33 includes a connecting rod 333, and a sliding guide magnetic part 331 and a locking part 332 spaced apart; the connecting rod 333 is located between the sliding guide magnetic part 331 and the locking part 332, and the sliding guide magnetic part 331 and the locking part 332 are connected by the connecting rod 333; the sliding guide magnetic part 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 part 332 is located on the side of the annular elastic member 31 away from the electromagnet 32, and is slidably connected to the first hook member 21 and the second hook member 22 respectively.

[0103] In the mounting device provided in this embodiment, the sliding guide magnetic suction part 331 is closer to the electromagnet 32 ​​and is used to connect with the electromagnet 32. The locking part 332 is closer to the opening 20 and abuts against the first hook member 21 and the second hook member 22 respectively. When subjected to force, it can force the first hook member 21 and the second hook member 22 to rotate, so as to complete the mounting or release of the sub-drone 200 and the main drone 100. Specifically, when the electromagnet 32 ​​is energized, it generates a magnetic attraction force. Under the action of the magnetic attraction force, the sliding guide magnetic suction part 331 moves towards the electromagnet 32. The sliding guide magnetic suction part 331 drives the locking part 332 to move upward through the connecting rod 333. The locking part 332 applies a force to the first hook member 21 and the second hook member 22, forcing the first hook member 21 to rotate counterclockwise and the second hook member 22 to rotate clockwise, thereby making the opening smaller and realizing the mounting of the sub-drone 100 and the main drone 200.

[0104] In the above embodiment with the third and fourth hooks, the sliding lock 33 can also force the third and fourth hooks to rotate when it moves. The principle is the same as in the previous embodiment, and will not be described in detail here.

[0105] In one embodiment of this application, such as Figure 3 and Figure 4 As shown, the upper inner wall of the first hook member 21 is provided with a first inclined surface 213, and the first inclined surface 213 is inclined such that the closer it is to the opening 20, the further away it is from the second hook member 22; the upper inner wall of the second hook member 22 is provided with a second inclined surface 223, and the second inclined surface 223 is inclined such that the closer it is to the opening 20, the further away it is from the first hook member 21; the opposite sides of the locking part 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 part 332 moves, the third inclined surface 3321 can exert a force on the first inclined surface 213, the direction of which is perpendicular to the first inclined surface 213, thereby forcing the first mounting member 21 to rotate. The fourth inclined surface 3322 can exert a force on the second inclined surface 223 perpendicular to the second inclined surface 223, thereby forcing the second mounting member 22 to rotate, so as to realize the attachment or release of the sub-UAV 200 and the main UAV 100. Specifically, when the electromagnet 32 ​​is energized, it generates a magnetic attraction force. Under the action of the magnetic attraction force, the sliding guide magnetic attraction part 331 moves towards the electromagnet 32. The sliding guide magnetic attraction part 331 drives the locking part 332 to move upward through the connecting rod 333. The locking part 332 applies a force to the first inclined surface 213 through the third inclined surface 3321, forcing the first mounting member 21 to rotate counterclockwise. The fourth inclined plane 3322 applies a force to the second inclined plane 223, forcing the second mounting piece 22 to rotate clockwise, thereby reducing the opening and enabling the sub-UAV 200 to be mounted on the main UAV 100.

[0107] Furthermore, when the electromagnet 32 ​​is de-energized, the magnetic attraction disappears, and the sliding guide magnetic attraction part 331 moves away from the electromagnet 32 ​​under the action of gravity, causing the sliding lock 33 to move downward as a whole. At this time, the first hook member 21 and the second hook member 22 rotate under the action of the annular elastic member 31. The upper ends of the first hook member 21 and the second hook member 22 exert a force on the locking part 332 through the first inclined surface 213 and the second inclined surface 223, that is, the upper ends of the first hook member 21 and the second hook member 22 press the locking part 332, causing the sliding lock 33 to move downward along the axial direction of the foot sleeve 1 as a whole.

[0108] Similarly, in embodiments with a third and a fourth mounting bracket, the third and fourth mounting brackets may also have inclined surfaces, and the locking part 332 may have a corresponding inclined surface, so as to facilitate the attachment or release of the sub-UAV 200 and the main UAV 100. The principle is the same as in the aforementioned embodiments, and will not be elaborated further here.

[0109] In one embodiment of this application, such as Figure 3As shown, the opening and closing drive assembly 3 also includes a connector 34, with a portion of the electromagnet 32 ​​sleeved and fixed to the connector 34. The cavity 10 includes a first section 101 and a second section 102 connected in sequence. The connector 34 is located within the first section 101 and is detachably connected to it. 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 maintain 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, and the second section of the cavity 10 is used to accommodate the electromagnet 32 ​​and the sliding lock 33.

[0110] In one embodiment of this application, the sliding guide magnetic part 331 is slidably connected to the inner wall of the second segment 102. That is, the inner wall of the second segment 102 can provide guidance when the sliding guide magnetic part 331 moves up and down, ensuring its stability during sliding.

[0111] This application also provides an unmanned aerial vehicle (UAV) system, which includes a main UAV 100, at least one of the above-described mounting devices, and at least one sub-UAV 200; the mounting devices are connected to the main UAV 100 and are used for mounting and connecting with the sub-UAV 200.

[0112] Optionally, the main UAV 100 can be connected to multiple of the aforementioned mounting devices, and the number of sub-UAVs 200 can also be multiple, thereby enabling the main UAV 100 to simultaneously attach to or release multiple sub-UAVs 200. The number of mounting devices and sub-UAVs 200 can be selected and adjusted according to actual needs.

[0113] It should be noted that the unmanned aerial vehicle (UAV) system provided in this application includes two operating modes. In the first operating mode, the main UAV 100 is not connected to any sub-UAV 200, and the main UAV 100 can operate independently. In the second operating mode, the main UAV 100 can be connected to at least one sub-UAV 200, and the main UAV 100 can cooperate with the sub-UAV 200 to perform integrated operations, such as multi-view shooting. Those skilled in the art can select or adjust the operating mode according to their needs.

[0114] In one embodiment of this application, such as Figure 2As shown, the sub-UAV 200 includes a body 201 and a mounting component 202; the mounting component 202 is disposed on the outer wall of the body 201 and is used for mounting and connecting with the mounting assembly 2. By providing the mounting component 202 on the sub-UAV 200, it is easy to achieve a detachable connection between the mounting device and the mounting component 202. Furthermore, the connection method using the mounting device and the mounting component 202 provides better stability and can ensure the stability of the sub-UAV 200 and the main UAV 100 during synchronous movement.

[0115] In one embodiment of this application, such as Figure 2 and Figure 3 As shown, the mounting assembly 202 includes a mounting bracket 2021 and a mounting cap 2022. One end of the mounting bracket 2021 is connected to the body 201, and the other end of the mounting bracket 2021 is connected to the mounting cap 2022. The area of ​​the lower end face of the mounting cap 2022 is greater than the cross-sectional area of ​​the mounting bracket 2021. And / or, the area of ​​the lower end face of the mounting cap 2022 is greater than the size of the opening 20 when the mounting assembly 2 is in the closed state.

[0116] like Figure 3 As shown, a mounting cap 2022 is provided at the end of the mounting bracket 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 mounting bracket 2021, meaning that the mounting cap 2022 partially protrudes from the mounting bracket 2021 to form a "mounting ridge" for easy mounting. The mounting assembly 2 can be supported by the surface on the mounting cap 2022 used for connecting with the mounting bracket 2021. Furthermore, when the mounting assembly 2 is in the closed state, the opening 20 is at its smallest, and the area of ​​the lower end surface of the mounting cap 2022 is larger than the size of the opening 20, meaning that the mounting cap 2022 is confined within the opening 20, and the mounting assembly 2 achieves the mounting connection with the sub-UAV 200.

[0117] In one embodiment of this application, the mounting cap 2022 is provided with at least one pair of mounting slots 20221, which are used for mounting to the mounting assembly 2. Each pair of mounting slots 20221 includes two oppositely arranged mounting slots 20221. Exemplarily, the mounting assembly 2 may be provided with components that cooperate with the mounting slots 20221, such as a first hook 211 and a second hook 221. When the mounting assembly 2 is in the closed state, the first hook 211 and the second hook 221 extend into the mounting slots 20221, achieving the mounting connection between the two. Furthermore, after mounting, the sub-UAV 200 can move synchronously with the main UAV 100, for example, by performing pitch, roll, yaw, forward / backward, and lateral movements with the main UAV 100. That is, while achieving the mounting connection between the sub-UAV 200 and the main UAV 100 through the mounting device, the stability of the two during synchronous movement can also be guaranteed.

[0118] In addition, after the sub-drone 200 is attached to 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 and lateral movements of the main drone 100.

[0119] Optionally, the number of mounting slots 20221 can be multiple, and can be selected and adjusted according to actual needs.

[0120] In one embodiment, the mounting cap 2022 is provided with four mounting slots 20221, which are arranged at intervals along the circumference of the mounting cap 2022. The mounting assembly 2 includes four mounting members, and the mounting device is connected to the four mounting slots 20221 through the four mounting members.

[0121] It should be noted that the cross-sectional area of ​​the third segment 103 can be greater than or equal to the area of ​​the lower end face of the mounting cap 2022. When the sub-UAV 200 is attached to the main UAV 100, the mounting cap 2022 will extend from the open end 11 of the landing gear sleeve 1 and move in the direction of the opening 20. During the movement, the inner wall of the third segment 103 can provide a certain guiding effect to the mounting cap 2022, making it more stable during movement.

[0122] This application also provides a control method for the above-mentioned unmanned aerial vehicle system, the control method including:

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

[0124] Align the mounting device on the main UAV 100 with the mounting mating part 202 on the sub-UAV 200, and control the main UAV 100 and / or the sub-UAV 200 to move toward each other;

[0125] Control the opening and closing drive component 3 so that the size of the opening 20 is less than a set threshold;

[0126] Control the drone 100 to take off, and after receiving the release control signal, control the opening and closing drive component 3 to make the size of the opening 20 greater than or equal to the set threshold, so as to release the sub-drone 200.

[0127] It should be noted that the set threshold can be greater than or equal to the area of ​​the lower end face of the attachment cap 2022, and the set threshold can be selected and adjusted according to requirements. When the cross-sectional area of ​​the opening 20 is greater than or equal to the set threshold, the attachment component 2 and the sub-drone 200 are released; when the cross-sectional area of ​​the opening 20 is less than the set threshold, the attachment component 2 and the sub-drone 200 are attached.

[0128] It should also be noted that controlling the main UAV 100 and / or the sub-UAV 200 to move closer to each other includes three scenarios.

[0129] In the first scenario, the main drone 100 can be controlled to fly above the sub-drone 200, and then its descent can be controlled. Alternatively, the main drone 100 can be moved above the sub-drone 200 by manual operation or robotic arm control, and then its descent can be controlled.

[0130] In the second scenario, the sub-drone 200 can be controlled to fly below the main drone 100, and then it can be controlled to ascend. Alternatively, the sub-drone 200 can be moved below the main drone 100 manually or by a robotic arm, and then it can be controlled to ascend.

[0131] In the third scenario, after the main UAV 100 and the sub-UAV 200 maintain an up-down attitude, the main UAV 100 can be controlled to descend while the sub-UAV 200 ascends.

[0132] It should be noted that "up and down" here refers to the relative state of the main UAV 100 and the sub-UAV 200, and does not necessarily mean that they are in the vertical position of gravity. They can also be in two relative directions such as left and right, front and back.

[0133] In one embodiment of this application, before the step of controlling the opening and closing drive component 3 to make the size of the opening 20 greater than or equal to a set threshold to release the sub-drone 200 after receiving the release control signal, the control method further includes: controlling the main drone 100 to start a hovering state, and controlling the sub-drone 200 to start working and start a hovering state.

[0134] Before releasing the sub-drone 200, the main drone 100 needs to be controlled to enter a hovering state to ensure it is in a relatively stable condition. Then, the sub-drone 200 is controlled to begin operation and enter a hovering state. At this point, the lift of the main drone 100 is reduced to be equal to its own weight. That is, the positions and states of the main drone 100 and the sub-drone 200 are relatively controllable, effectively avoiding collisions with the main drone 100 or other objects during release, reducing the occurrence of accidents, and ensuring the safety of the drone equipment. Furthermore, a stable hovering state also 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 this application, after receiving a release control signal, the control method further includes, after the step of controlling the opening / closing drive component 3 to make the size of the opening 20 greater than or equal to a set threshold to release the sub-drone 200, the control method further includes:

[0136] Control the sub-drone 200 to move away from the main drone 100; or,

[0137] Control the main UAV 100 to move away from the sub-UAV 200.

[0138] After controlling the opening and closing drive component 3 to enlarge the opening 20, both the main drone 100 and the sub-drones 200 are in a hovering state. At this time, the main drone can be controlled to rise, so that all the sub-drones 200 separate from the main drone 100 at the same time. Alternatively, one or more sub-drones 200 can be controlled to descend, so that the sub-drones 200 separate from the main drone 100 one by one or simultaneously.

[0139] Specifically, the control method for the unmanned aerial vehicle (UAV) system is described based on the specific structure in the foregoing embodiments. The control method for the UAV system provided in this application embodiment may specifically include the following steps:

[0140] Step S1: On the ground, the electromagnet 32 ​​is de-energized, and the sliding lock 33 moves down under the action of gravity. At the same time, under the action of the elastic restoring force of the annular elastic member 31, the first hook member 21 and the second hook member 22 rotate around the hinge axis with the foot sleeve 1, so that the lower ends of the first hook member 21 and the second hook member 22 open.

[0141] Step S2: Insert the mounting cap 2022 on the upper end of the sub-drone 200 from the lower end of the tripod sleeve 1 until the body 201 on 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 magnetic attraction force, and then the entire sliding lock 33 is pulled upward, so that the sliding guide magnetic attraction part 331 moves upward with the locking part 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 part 332 slides and constrains the first inclined surface 213, and the fourth inclined surface 3322 on the locking part 332 slides and constrains the second inclined surface 223, so that the first hook 21 and the second hook 22 rotate around the hinge axis with the foot sleeve 1, so that the lower ends of the first hook 21 and the second hook 22 retract until the first hook 211 at the lower end of the first hook 21 is engaged in the hook groove 20221, and the second hook 221 at the lower end of the second hook 22 is engaged in the hook groove 20221, thereby realizing the mounting of the main UAV 100 to the sub-UAV 200;

[0144] Step S5: The main UAV 100 takes off with at least one sub-UAV 200;

[0145] Step S6: Arrive at the target area, and hover the main drone at 100 degrees.

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

[0147] Step S8: In the air, the electromagnet 32 ​​is de-energized, 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 hook 21 and the second hook 22 rotate around the hinge axis with the footplate sleeve 1, so that the lower ends of the first hook 21 and the second hook 22 open; until the first hook 211 at the lower end of the first hook 21 disengages from the hook groove 20221, and the second hook 221 at the lower end of the second hook 22 disengages from the hook groove 20221, thus realizing the separation of the sub-UAV 200 from the main UAV 100;

[0148] Step S9: The main UAV 100 takes off upwards and moves away from the sub-UAV 200, and the sub-UAV 200 performs its operations.

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

[0150] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only.

[0151] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A mounting device applied to a main unmanned aerial vehicle (UAV), characterized in that, Includes tripod sleeves, mounting components, and opening / closing drive components; One end of the tripod sleeve is used to connect to the main UAV. The mounting component and the opening and closing drive component are both disposed inside the tripod sleeve. The tripod sleeve also includes an open end. The mounting assembly has an opening on the side near the open end of the tripod sleeve, and the opening and closing drive assembly is connected to the tripod sleeve and the mounting assembly respectively, for adjusting the size of the opening; The mounting assembly includes a first mounting component and a second mounting component; Both the first and second hook-fitting components are hinged to the tripod sleeve; The opening and closing drive assembly is connected to the first hook and the second hook respectively, and is used to adjust the distance between the first free end of the first hook and the first free end of the second hook, and the opening is formed at the distance. The first hook member has a first groove on its upper outer wall, and the second hook member has a second groove on its upper outer wall; The opening and closing drive assembly includes an annular elastic element, an electromagnet, and a sliding lock element, wherein the annular elastic element is sleeved in the first groove and the second groove; The electromagnet is located inside the cavity of the tripod sleeve and is electrically connected to the main UAV; the sliding lock is located inside the cavity; The sliding lock includes a connecting rod, and a sliding guide magnetic part and a locking part arranged at intervals; The connecting rod is located between the sliding guide magnetic part and the locking part, and the sliding guide magnetic part and the locking part are connected by the connecting rod; The sliding guide magnetic suction part is located between the electromagnet and the annular elastic element, and is slidably connected to the inner side of the cavity along the axial direction; The locking part is located on the side of the annular elastic member away from the electromagnet, and is slidably connected to the first hook and the second hook respectively, and is used to reduce the size of the opening when moving closer to the electromagnet.

2. The mounting device according to claim 1, characterized in that, The lower end of the first hook protrudes toward the second hook and forms a first hook; The lower end of the second hook protrudes toward the first hook and forms a second hook, with the opening formed at the interval between the first hook and the second hook.

3. The mounting device according to claim 2, characterized in that, The side wall of the tripod sleeve is provided with a first through hole and a second through hole; the first hook is hinged to the first through hole and the second hook is hinged to the second through hole; The mounting assembly includes an unfolded state, wherein the first through hole is used to expose the first hook when the mounting assembly is in the unfolded state, and the second through hole is used to expose the second hook when the mounting assembly is in the unfolded state.

4. The mounting device according to claim 1, characterized in that, The first groove is a U-shaped groove; and / or, the second groove is a U-shaped groove.

5. The mounting device according to claim 1, characterized in that, The opening and closing drive assembly also includes a connector, and a portion of the electromagnet is sleeved and fixed to the connector; The cavity includes a first section, a second section, and a third section connected in sequence. The connector is located in the first section and is detachably connected to the first section. The electromagnet and the sliding lock are both located in the second section.

6. The mounting device according to claim 1, characterized in that, The upper inner wall of the first hook is provided with a first inclined surface, and the first inclined surface is inclined such that the closer it is to the opening, the further away it is from the second hook. The upper inner wall of the second hook is provided with a second inclined surface, and the second inclined surface is inclined such that the closer it is to the opening, the further away it is from the first hook. The locking part includes 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.

7. An unmanned aerial vehicle (UAV) system, characterized in that, The unmanned aerial vehicle system includes a main unmanned aerial vehicle, at least one mounting device as described in any one of claims 1 to 6, and at least one sub-unmanned aerial vehicle; The mounting device is connected to the main UAV and is used for mounting and connecting with the sub-UAV.

8. The unmanned aerial vehicle system according to claim 7, characterized in that, The sub-drone includes a body and mounting components; The mounting fitting is disposed on the outer wall of the machine body and is used for mounting and connecting with the mounting assembly.

9. The unmanned aerial vehicle system according to claim 8, characterized in that, The mounting assembly includes 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. Wherein, the area of ​​the lower end face of the hook cap is greater than the cross-sectional area of ​​the bracket; and / or, The area of ​​the lower end face of the hook cap is greater than the size of the opening when the hook assembly is in the closed state.

10. The unmanned aerial vehicle system according to claim 9, characterized in that, The mounting cap is provided with at least one pair of mounting slots, which are used to connect with the mounting component, wherein each pair of mounting slots includes two oppositely arranged mounting slots.

11. The unmanned aerial vehicle system according to claim 10, characterized in that, In the case where the cavity includes a third segment, the cross-sectional area of ​​the third segment is greater than or equal to the area of ​​the lower end face of the hook cap.

12. A control method applied to an unmanned aerial vehicle system according to any one of claims 7 to 11, characterized in that, The control method includes: Control the opening and closing drive component so that the size of the opening is greater than or equal to a set threshold; Align the mounting device on the main UAV with the mounting mating part on the sub-UAV, and control the main UAV and / or sub-UAV to move toward each other; Control the opening and closing drive component so that the size of the opening is less than the set threshold; The main UAV is controlled to take off, and upon receiving a release control signal, the opening and closing drive component is controlled to make the size of the opening greater than or equal to the set threshold in order to release the sub-UAV.

13. The control method for an unmanned aerial vehicle system according to claim 12, characterized in that, Before the step of controlling the opening / closing drive component to make the size of the opening greater than or equal to the set threshold after receiving the release control signal, so as to release the sub-drone, the control method further includes: Control the main UAV to initiate hovering mode; Control the sub-drone to start working and initiate hovering.

14. The control method for an unmanned aerial vehicle system according to claim 13, characterized in that, After the step of controlling the opening / closing drive component to make the size of the opening greater than or equal to the set threshold after receiving the release control signal, the control method further includes: Control the sub-drone to move away from the main drone; or, Control the main UAV to move away from the sub-UAV.

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