Propeller recovery method, mobile platform and its system, shutdown platform and its control method, control device and medium

Abstract

A propeller retraction method includes: controlling a propeller to rotate along a first direction; the propeller includes a propeller base, a first blade rotatably connected to the propeller base, and a second blade rotatably connected to the propeller base, wherein, during the rotation of the propeller along the first direction, the first blade can abut against a blocking mechanism, and the propeller base can drive the second blade to rotate along the first direction to approach the first blade, achieving one retraction of the propeller; and controlling the propeller to rotate in a second direction opposite to the first direction, during the rotation of the propeller along the second direction, the second blade can abut against the blocking mechanism, and the propeller base can drive the first blade to rotate along the second direction to approach the second blade, achieving a second retraction of the propeller, enabling more thorough retraction of the blades. A movable platform and its system, a stopping platform and its control method, a control device, and a medium are also provided.

Description

Propeller folding method, movable platform and system thereof, parking platform and control method thereof, control device and medium TECHNICAL FIELD

[0001] The present application relates to the technical field of propellers, in particular to a propeller folding method, a movable platform and system thereof, a parking platform and a control method thereof, a control device and a medium. BACKGROUND

[0002] In related technologies, a propeller generally has two or more than two blades arranged at intervals on a propeller base. In a non-working state, the blades of the propeller are in a scattered state, resulting in a relatively large occupied space. In some related solutions, the blades can be arranged to rotate relative to the propeller base to facilitate folding of the blades. However, in some automatic folding solutions, the included angle between the blades is still relatively large after the blades are folded in most cases, and the folding effect is not good.

[0003] SUMMARY

[0004] Therefore, the present application provides a propeller folding method, a movable platform and system thereof, a parking platform and a control method thereof, a control device and a medium.

[0005] In a first aspect, an embodiment of the present application provides a propeller folding method, which includes:

[0006] controlling a propeller to rotate in a first direction, the propeller including a propeller base, a first blade rotatably connected to the propeller base, and a second blade rotatably connected to the propeller base; wherein during rotation of the propeller in the first direction, the first blade can abut against a blocking mechanism, and the propeller base can drive the second blade to rotate in the first direction to approach the first blade, thereby achieving a first folding of the propeller; and

[0007] controlling the propeller to rotate in a second direction opposite to the first direction, during rotation of the propeller in the second direction, the second blade can abut against the blocking mechanism, and the propeller base can drive the first blade to rotate in the second direction to approach the second blade, thereby achieving a second folding of the propeller.

[0008] In a second aspect, an embodiment of the present application provides a propeller folding method, which includes:

[0009] controlling a propeller to rotate in a first direction, the propeller including a propeller base, a first blade rotatably connected to the propeller base, and a second blade rotatably connected to the propeller base;

[0010] limiting rotation of the first blade along the first direction so that the hub can drive the second blade to continue rotating along the first direction to approach the first blade, to realize a first folding of the propeller;

[0011] controlling the propeller to rotate along a second direction opposite to the first direction; and

[0012] limiting rotation of the second blade along the second direction so that the hub can drive the first blade to continue rotating along the second direction to approach the second blade, to realize a second folding of the propeller.

[0013] In a third aspect, an embodiment of the present application provides a control method of a movable platform system, the movable platform system comprising a movable platform and a parking platform for parking the movable platform, and the control method comprises:

[0014] controlling a propeller of the movable platform located on the parking platform to rotate along a first direction, the propeller comprising a hub, a first blade rotatably connected to the hub, and a second blade rotatably connected to the hub; wherein during rotation of the propeller along the first direction, the first blade can abut against a blocking mechanism of the parking platform, the hub can drive the second blade to rotate along the first direction to approach the first blade, to realize a first folding of the propeller; and

[0015] controlling the propeller to rotate along a second direction opposite to the first direction, during rotation of the propeller along the second direction, the second blade can abut against the blocking mechanism, the hub can drive the first blade to rotate along the second direction to approach the second blade, to realize a second folding of the propeller.

[0016] In a fourth aspect, an embodiment of the present application provides a control method of a parking platform, the control method comprising:

[0017] controlling a blocking mechanism of the parking platform to abut against a first blade of a propeller of a movable platform, so that the propeller drives a second blade of the propeller to approach the first blade when the propeller rotates along a first direction, to realize a first folding of the propeller; and

[0018] controlling the blocking mechanism to abut against the second blade, so that the propeller drives the first blade to approach the second blade when the propeller rotates along a second direction opposite to the first direction, to realize a second folding of the propeller.

[0019] In a fifth aspect, the embodiments of the present application provide a movable platform, the movable platform comprising a propeller, the movable platform further comprising one or more processors and one or more memories storing computer program codes, configured to jointly act to cause the movable platform to perform the aforementioned propeller folding method.

[0020] In a sixth aspect, the embodiments of the present application provide a movable platform system, the movable platform system comprising a movable platform and a parking platform for parking the movable platform, the movable platform system comprising one or more processors and one or more memories storing computer program codes, configured to jointly act to cause the movable platform to perform the aforementioned movable platform system control method.

[0021] In a seventh aspect, the embodiments of the present application provide a parking platform, the parking platform being used for parking a movable platform, the parking platform comprising one or more processors and one or more memories storing computer program codes, configured to jointly act to cause the movable platform to perform the aforementioned parking platform control method.

[0022] In an eighth aspect, the embodiments of the present application provide a control device, the control device comprising one or more processors and one or more memories storing computer program codes, configured to jointly act to cause a movable platform to perform the aforementioned propeller folding method.

[0023] In a ninth aspect, the embodiments of the present application provide a control device, the control device comprising one or more processors and one or more memories storing computer program codes, configured to jointly act to cause a parking platform and a movable platform in a movable platform system to perform the aforementioned movable platform system control method.

[0024] In a tenth aspect, the embodiments of the present application provide a control device, the control device comprising one or more processors and one or more memories storing computer program codes, configured to jointly act to cause a parking platform to perform the aforementioned parking platform control method.

[0025] In an eleventh aspect, the embodiments of the present application provide a computer readable storage medium, the computer readable storage medium storing a computer program, the computer program being executed by a processor to cause the processor to implement the aforementioned method.

[0026] The propeller folding method provided by the embodiments of the present application comprises: rotating a propeller along a first direction, the propeller comprising a propeller base, a first propeller blade rotatably connected to the propeller base, and a second propeller blade rotatably connected to the propeller base; wherein during the rotation of the propeller along the first direction, the first propeller blade can abut against a blocking mechanism, and the propeller base can drive the second propeller blade to rotate along the first direction to approach the first propeller blade, thereby achieving the first folding of the propeller; and rotating the propeller along a second direction opposite to the first direction, during the rotation of the propeller along the second direction, the second propeller blade can abut against the blocking mechanism, and the propeller base can drive the first propeller blade to rotate along the second direction to approach the second propeller blade, thereby achieving the second folding of the propeller. After the first folding of the propeller by the blocking mechanism through the rotation of the propeller along the first direction, the second folding of the propeller by the blocking mechanism through the rotation of the propeller along the second direction is performed, so that the included angle between different propeller blades of the folded propeller is further reduced, and the folding effect of the propeller blades is better.

[0027] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the disclosure of the embodiments of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0029] FIGS. 1a and 1b are structural schematic diagrams of a propeller in some embodiments;

[0030] FIG. 2 is a flow schematic diagram of a propeller folding method according to an embodiment of the present application;

[0031] FIGS. 3a and 3b are schematic diagrams of the abutment of a first propeller blade and a blocking mechanism in an embodiment of the present application;

[0032] FIGS. 3c and 3d are schematic diagrams of the abutment of a second propeller blade and a blocking mechanism in an embodiment of the present application;

[0033] FIG. 4 is a flow schematic diagram of a propeller folding method according to another embodiment of the present application;

[0034] FIG. 5 is a schematic diagram of a blocking mechanism in an embodiment of the present application;

[0035] FIG. 6 is a schematic diagram of a parking platform in an embodiment of the present application;

[0036] FIGS. 7a-7f are schematic diagrams of scenarios of a propeller collecting method according to an embodiment of the present application;

[0037] FIGS. 8a and 8b are schematic diagrams of a propeller abutting against a side plate of a hatch cover according to some embodiments;

[0038] FIGS. 9a and 9b are schematic diagrams of a propeller abutting against an edge plate of a hatch cover according to some embodiments;

[0039] FIG. 10 is a schematic diagram of a preset range for accommodating a propeller according to an embodiment of the present application;

[0040] FIG. 11 is a flowchart of a control method of a movable platform system according to an embodiment of the present application;

[0041] FIG. 12 is a schematic block diagram of a movable platform system according to some embodiments of the present application;

[0042] FIG. 13 is a flowchart of a control method of a parking platform according to an embodiment of the present application;

[0043] FIG. 14 is a schematic block diagram of a movable platform according to an embodiment of the present application;

[0044] FIG. 15 is a schematic block diagram of a movable platform system according to an embodiment of the present application;

[0045] FIG. 16 is a schematic block diagram of a parking platform according to an embodiment of the present application;

[0046] FIG. 17 is a schematic block diagram of a control device according to an embodiment of the present application.

[0047] Reference signs: 10, propeller seat; 11, first propeller blade; 12, second propeller blade; 20, blocking mechanism; 201, first blocking part; 202, second blocking part; 201a, first blocking piece; 202a, second blocking piece; 30, hatch cover; 31, edge plate; 301, outer end part; 301a, flexible piece; 302, inner side wall; 32, connecting plate; 321, top plate; 322, side plate; 40, preset range. DETAILED DESCRIPTION

[0048] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, but not all embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0049] The flowcharts shown in the drawings are merely illustrative, and do not necessarily include all the contents and operations / steps, nor are they necessarily executed in the order described. For example, some operations / steps can be broken down, combined, or partially combined, so the actual execution order can vary depending on the actual situation.

[0050] Some embodiments of the present application will be described in detail below with reference to the drawings. The following embodiments and features in the embodiments can be combined with each other without conflict.

[0051] In the related art, the blades of the propeller can be arranged to be able to rotate relative to the propeller hub so as to be able to be folded, as shown in FIG. 1a or FIG. 1b, the blades (such as first blade 11 and second blade 12) of the propeller are generally arranged side by side on the propeller hub 10, and in the process of driving the other blade (such as second blade 12) to rotate towards the predetermined blade (such as first blade 11), the blades can be folded when the rotation of the predetermined blade is limited.

[0052] However, the related art has a poor folding effect of the blades, which is caused by the interference between the driving of the other blades (e.g., the second blade 12) towards the predetermined blade (e.g., the first blade 11) when the rotation of the predetermined blade is limited. For example, in some propeller configurations, such as the configuration shown in FIG. 1a, when the propeller hub 10 drives the second blade 12 to rotate in the direction of the arrow shown in FIG. 1a, the blade root 121 of the second blade 12 will interfere with the first blade 11, causing the propeller hub 10 to be unable to drive the second blade 12 to continue rotating. Or in other propeller configurations, such as the configuration shown in FIG. 1b, the propeller hub 10 includes a blade clamp, which includes a first connecting portion 10a, a second connecting portion 10b, and a connecting structure 10c between the first connecting portion 10a and the second connecting portion 10b. For example, the first connecting portion 10a can be referred to as an upper clamp, and the second connecting portion 10b can be referred to as a lower clamp. The second blade 12 and the first blade 11 are connected on both sides of the connecting structure 10c. During the process in which the propeller hub 10 drives the second blade 12 to move towards the first blade 11 in the direction indicated by the arrow shown in FIG. 1b, the connecting structure 10c will interfere with the first blade 11, causing the propeller hub 10 to be unable to drive the second blade 12 to rotate towards the first blade 11, and the folding effect between the blades needs to be improved. It should be noted that the above two propeller configurations are only used for illustration, and in fact, the configuration of the propeller can be set according to actual needs. Generally, different configurations of the propeller will generally interfere with the driving of the other blades (e.g., the second blade 12) towards the predetermined blade (e.g., the first blade 11) when the rotation of the predetermined blade is limited, only the specific structure causing the interference is different, and the specific structure causing the interference is not exhaustively listed here, but those skilled in the art can understand that different propeller configurations and different interference structures should be within the scope of the present application.

[0053] Based on this, referring to FIG. 2, the present application provides a folding method for further folding the propeller to reduce the space occupied by the propeller.

[0054] The propeller includes two or more blades; the folding of the present application refers to the reduction of the included angle between the blades. The folding method of the propeller can further reduce the included angle between different blades of the propeller, and the folding effect of the blades is better. The configuration of the propeller is not limited in the present application, and the configuration of the propeller can be set according to actual needs.

[0055] In some embodiments, the propeller can be a propeller of a movable platform; the propeller of the movable platform rotates when in operation, so that air or liquid or other fluid generates thrust before and after the propeller, thereby enabling the movable platform to move. It should be noted that the propeller can also be a propeller on a fixed platform. In the following embodiments, the propeller will be applied to the movable platform as an example for expansion, but those skilled in the art can know that the structure, principle, connection relationship, assembly relationship and function of the following embodiments are also applicable to the case where the propeller is applied to the fixed platform.

[0056] For example, the movable platform can include at least one of an aircraft, a vehicle, a ship, a work robot, etc. For example, the aircraft can be a drone, the vehicle can be a unmanned vehicle, and the ship can be a unmanned ship. For ease of illustration, the embodiments of the present application mainly take the movable platform including an aircraft, such as a drone, as an example for illustration. The fixed platform can be a building, a tower, a base station or any other fixed platform.

[0057] The propeller folding method can be applied to a movable platform or a fixed platform. For example, the movable platform or the fixed platform includes one or more processors and one or more memories storing computer program codes, which are configured to jointly act to enable the movable platform to perform the steps of the propeller folding method. Of course, it is not limited thereto, for example, the propeller folding method can be applied to a control terminal of the movable platform or the fixed platform, and the control terminal includes at least one of a remote controller, a mobile phone, a computer, etc. Or the propeller folding method can be applied to a parking platform, which is used to park the movable platform and can also realize folding the propeller of the movable platform.

[0058] As shown in FIG. 2, the propeller folding method of the embodiments of the present application includes step S110 and step S120.

[0059] In step S110, the propeller is controlled to rotate along a first direction D1, and the propeller includes a propeller base 10, a first propeller blade 11 rotatably connected with the propeller base 10, and a second propeller blade 12 rotatably connected with the propeller base 10; wherein during the rotation of the propeller along the first direction D1, the first propeller blade 11 can abut against a blocking mechanism 20, and the propeller base 10 can drive the second propeller blade 12 to rotate along the first direction D1 to approach the first propeller blade 11, thereby realizing the first folding of the propeller.

[0060] For ease of illustration, the embodiments of the present application mainly take the propeller including two propeller blades as an example for illustration. It should be noted that the propeller can also include more than two propeller blades, and when the propeller includes more than two propeller blades, the first propeller blade 11 and the second propeller blade 12 can be any two of the propeller blades.

[0061] As shown in FIG. 3a, the propeller includes a propeller base 10, a first propeller blade 11 rotatably connected with the propeller base 10, and a second propeller blade 12 rotatably connected with the propeller base 10; the first propeller blade 11 and the second propeller blade 12 can be arranged side by side on the propeller base 10. The propeller base 10 is connected with a power device such as a motor, and the power device can drive the propeller base 10 to rotate, so that the propeller base 10 drives the first propeller blade 11 and the second propeller blade 12 to rotate.

[0062] As shown in FIG. 3a, taking the counterclockwise direction as an example of the first direction D1, in the process of rotating the propeller in the counterclockwise direction, the first propeller blade 11 can abut against the blocking mechanism 20; when the first propeller blade 11 abuts against the blocking mechanism 20, the propeller base 10 can drive the second propeller blade 12 to continue rotating in the counterclockwise direction to approach the first propeller blade 11, for example, to the position shown in FIG. 3b. It should be noted that the first direction D1 can also be the clockwise direction.

[0063] The embodiment of the present application can realize the second folding of the propeller through step S120 after the first folding of the propeller in step S110, so that the included angle between different propeller blades of the propeller is smaller, and the folding of the propeller blades is more thorough.

[0064] In step S120, the propeller is controlled to rotate in a second direction D2 opposite to the first direction D1; in the process of rotating the propeller in the second direction D2, the second propeller blade 12 can abut against the blocking mechanism 20, and the propeller base 10 can drive the first propeller blade 11 to rotate in the second direction D2 to approach the second propeller blade 12, so as to realize the second folding of the propeller.

[0065] Please refer to Fig. 3c in combination with Fig. 3b, the second direction D2 is the clockwise direction. When the paddle base 10 drives the second paddle 12 to rotate to the position shown in Fig. 3b, the propeller is controlled to rotate in the clockwise direction, and in the process of rotating in the clockwise direction, the second paddle 12 can abut against the blocking mechanism 20. Please refer to Fig. 3d in combination with Fig. 3c, when the second paddle 12 abuts against the blocking mechanism 20, the paddle base 10 can drive the first paddle 11 to continue rotating in the clockwise direction to approach the second paddle 12, so that the included angle between the first paddle 11 and the second paddle 12 is smaller, and the propeller is re-folded. Since the included angle between the first paddle 11 and the second paddle 12 has been reduced by the first folding, the re-folding further reduces the included angle between the first paddle 11 and the second paddle 12 on the basis of the first folding, so that the folding effect of the propeller is better. It should be noted that in Figs. 3a to 3d, the first direction D1 is counterclockwise and the second direction D2 is clockwise, which is an embodiment of the present application; in some other embodiments, the first direction D1 can be clockwise and the second direction D2 can be counterclockwise, which can also achieve the first folding and the re-folding of the propeller. In some embodiments, the movable platform includes a plurality of propellers, and the first direction D1 corresponding to different propellers can be different.

[0066] In some embodiments, the propeller is applied to a movable platform, and the blocking mechanism 20 is arranged on the fuselage of the movable platform or on the outside of the movable platform.

[0067] For example, when the movable platform needs to fold the propeller, the blocking mechanism 20 can be controlled to switch to a state capable of abutting against the paddle, for example, the blocking piece of the blocking mechanism 20 is controlled to extend to intersect with the plane where the paddle is located, so as to abut against the paddle and fold the propeller. When the movable platform needs to move by the power provided by the propeller, the blocking mechanism 20 can be controlled to switch to a state that does not interfere with the rotation of the paddle, for example, the blocking piece of the blocking mechanism 20 is controlled to retract.

[0068] For example, the blocking mechanism 20 is arranged on the outside of the movable platform, that is, the blocking mechanism 20 can be arranged on other devices outside the movable platform; for example, the blocking mechanism 20 is arranged on a parking platform used for parking the movable platform. When the movable platform is parked on the parking platform, the blocking mechanism 20 can be used to fold the propeller to reduce the space occupied by the propeller, that is, to reduce the space occupied by the whole movable platform, which is beneficial to the miniaturization of the parking platform, so that the use scenario of the parking platform is more extensive.

[0069] In some embodiments, the blocking mechanism 20 comprises an executing member of the parking platform, which for example comprises a hatch 30 for covering the parking platform, and is not limited thereto, for example, the executing member can also be a telescopic mechanism or a mechanical arm on the parking platform, etc. The executing member is configured to move between a first position and a second position when performing a preset function, and the executing member abuts against the first blade 11 during movement of the executing member from the first position to the second position. Optionally, the preset function comprises at least one of the following: a hatch closing function, a battery replacement function, a sensor cleaning function. The folding of the movable platform propeller can be achieved when the parking platform performs the preset function.

[0070] In some embodiments, the rotation of the first blade 11 and the rotation of the second blade 12 are not limited by the blocking mechanism 20, i.e., the way of limiting the rotation of the first blade 11 and the rotation of the second blade 12 is not limited, for example, a limiting structure can be provided on the propeller to limit the rotation of the first blade 11 and the rotation of the second blade 12. Alternatively, the user can be prompted to limit the rotation of the first blade 11, so that the paddle seat 10 can drive the second blade 12 to approach the first blade 11, and the user can be prompted to limit the rotation of the second blade 12, so that the paddle seat 10 can drive the first blade 11 to approach the second blade 12.

[0071] Based on this, in combination with the foregoing embodiments, referring to FIGS. 3-4, the application further provides another embodiment of a folding method, which comprises steps S210-S240.

[0072] Step S210: controlling the propeller to rotate along a first direction D1, the propeller comprising a paddle seat 10, a first blade 11 rotatably connected to the paddle seat 10, and a second blade 12 rotatably connected to the paddle seat 10.

[0073] Step S220: limiting the rotation of the first blade 11 along the first direction D1, so that the paddle seat 10 can drive the second blade 12 to continue rotating along the first direction D1 to approach the first blade 11, thereby achieving a first folding of the propeller.

[0074] Step S230: controlling the propeller to rotate along a second direction D2 opposite to the first direction D1.

[0075] Step S240: limiting the rotation of the second blade 12 along the second direction D2, so that the paddle seat 10 can drive the first blade 11 to continue rotating along the second direction D2 to approach the second blade 12, thereby achieving a second folding of the propeller.

[0076] The embodiment of the present application can realize the second folding of the propeller through step S240 after the first folding of the propeller in step S210, so that the included angle between different blades of the propeller is smaller, and the folding of the blades is more thorough. It should be noted that the embodiment of the present application can be combined with any content in the following embodiments, and the structure, principle, connection relationship, assembly relationship and function of the following embodiments are also applicable to the embodiment of the present application.

[0077] In some embodiments, the method further comprises: when the propeller is in a working state, controlling the propeller to rotate at a first speed; and in response to folding the propeller, controlling the propeller to rotate at a second speed, wherein the second speed is less than the first speed. By setting the propeller to rotate at a lower speed when the propeller is folded, the force when the blade abuts against the blocking mechanism 20 can be reduced, and mechanical damage caused by the collision between the blade and the blocking mechanism 20 can be prevented.

[0078] In some embodiments, step S110 controls the propeller to rotate along the first direction D1, and in the process of rotating the propeller along the first direction D1, the first blade 11 can abut against the blocking mechanism 20, and the second blade 12 can be driven by the propeller hub 10 to rotate along the first direction D1 to approach the first blade 11, so as to realize the first folding of the propeller, which comprises: controlling the propeller to rotate along the first direction D1 so that the first blade 11 abuts against the blocking mechanism 20; and controlling the propeller to continue to rotate along the first direction D1 so that the second blade 12 is driven by the propeller hub 10 to rotate to approach the first blade 11. Please refer to FIG. 3a, whether the first blade 11 has abutted against the blocking mechanism 20 does not affect whether the propeller is controlled to stop rotating along the first direction D1, and it can be unnecessary to detect whether the first blade 11 has abutted against the blocking mechanism 20; of course, it is not limited thereto, for example, the propeller can be controlled to continue to rotate along the first direction D1 by a preset angle in response to the first blade 11 abutting against the blocking mechanism 20, so that the second blade 12 is driven by the propeller hub 10 to rotate to approach the first blade 11.

[0079] In some embodiments, the control of the propeller to rotate in the second direction D2 opposite to the first direction D1, in the process of the rotation of the propeller in the second direction D2, the second blade 12 can abut against the blocking mechanism 20, the hub 10 can drive the first blade 11 to rotate in the second direction D2 to approach the second blade 12, so as to realize the re-folding of the propeller, comprising: controlling the propeller to rotate in the second direction D2, wherein the hub 10 drives the first blade 11 and the second blade 12 to rotate as a whole so that the second blade 12 abuts against the blocking mechanism 20; and controlling the propeller to continue to rotate in the second direction D2 so that the hub 10 drives the first blade 11 to rotate to approach the second blade 12.

[0080] Please refer to FIGS. 3b-3d, after the first folding of the propeller, the hub 10 drives the first blade 11 and the second blade 12 to rotate as a whole in the second direction D2 so that the second blade 12 abuts against the blocking mechanism 20 and the included angle between the first blade 11 and the second blade 12 is small; after the second blade 12 abuts against the blocking mechanism 20, the propeller is controlled to continue to rotate in the second direction D2 so that the included angle between the first blade 11 and the second blade 12 is further reduced.

[0081] Wherein, whether the second blade 12 has abutted against the blocking mechanism 20 does not affect whether the propeller is controlled to stop rotating in the second direction D2, it can not be necessary to detect whether the second blade 12 has abutted against the blocking mechanism 20; of course, it is not limited thereto, for example, the propeller can be controlled to continue to rotate in the second direction D2 by a preset angle in response to the abutment of the second blade 12 against the blocking mechanism 20, so that the hub 10 drives the first blade 11 to rotate to approach the second blade 12.

[0082] In some embodiments, the propeller can be controlled to rotate along the first direction D1 to bring the second blade 12 close to the first blade 11 to achieve a first folding of the propeller, including: the propeller can be controlled to rotate along the first direction D1 to bring the second blade 12 close to the first blade 11 until the propeller can no longer continue to rotate along the first direction D1, completing the first folding of the propeller. For example, when the second blade 12 interferes with the first blade 11 or the connecting structure in the propeller clamp interferes with the first blade 11 or other interference occurs during the process of the propeller bringing the second blade 12 close to the first blade 11, so that the propeller can no longer continue to rotate along the first direction D1, the propeller can be controlled to stop rotating along the first direction D1, which can prevent wear between the second blade 12 and the first blade 11 or wear between the connecting structure and the first blade 11 or wear between other interference structures. At this time, although the movement of the propeller 10 along the first direction is limited, the movement of the propeller 10 along the second direction is not limited, so that the propeller 10 can rotate as a whole with the first blade 11 and the second blade 12 to the second blade 12 abutting against the blocking mechanism 20, and the propeller 10 can continue to rotate along the second direction to bring the first blade 11 close to the second blade 12.

[0083] In some embodiments, the propeller can be controlled to rotate along the first direction D1 to bring the second blade 12 close to the first blade 11 to achieve a first folding of the propeller, including: the propeller can be controlled to rotate along the first direction D1 to bring the second blade 12 close to the first blade 11 until the propeller can no longer continue to rotate along the first direction D1, completing the first folding of the propeller. For example, when the second blade 12 interferes with the first blade 11 or the connecting structure in the propeller clamp interferes with the first blade 11 or other interference occurs during the process of the propeller bringing the second blade 12 close to the first blade 11, so that the propeller can no longer continue to rotate along the first direction D1, the propeller can be controlled to stop rotating along the first direction D1, which can prevent wear between the second blade 12 and the first blade 11 or wear between the connecting structure and the first blade 11 or wear between other interference structures. At this time, although the movement of the propeller 10 along the first direction is limited, the movement of the propeller 10 along the second direction is not limited, so that the propeller 10 can rotate as a whole with the first blade 11 and the second blade 12 to the second blade 12 abutting against the blocking mechanism 20, and the propeller 10 can continue to rotate along the second direction to bring the first blade 11 close to the second blade 12.

[0084] In some embodiments, referring to FIG. 3b and FIG. 3c, the blocking mechanism 20 comprises a first blocking portion 201 and a second blocking portion 202, the first blade 11 abuts against the first blocking portion 201 when the propeller rotates along the first direction D1, and the second blade 12 abuts against the second blocking portion 202 when the propeller rotates along the second direction D2. By providing the blocking mechanism 20 with the first blocking portion 201 and the second blocking portion 202, the positions where the blocking mechanism 20 abuts against the blades of the propeller are different in the two stowing processes, so that the first blade 11 can abut against the blocking mechanism 20 when the propeller rotates along the first direction D1, and the second blade 12 can abut against the blocking mechanism 20 when the propeller rotates along the second direction D2.

[0085] For example, as shown in FIG. 3b and FIG. 3c, the blocking mechanism 20 comprises a blocking piece of integral structure, the first blocking portion 201 and the second blocking portion 202 are two adjacent sides of the blocking piece. For example, the first blocking portion 201 is the lower side of the blocking piece, and the second blocking portion 202 is the left side of the blocking piece. It should be noted that the lower side here refers to the lower side in the direction of the drawing, and the left side refers to the left side in the direction of the drawing.

[0086] For example, as shown in FIG. 5, the blocking mechanism 20 comprises a first blocking piece 201a and a second blocking piece 202a, the first blocking piece 201a is provided with the first blocking portion 201, and the second blocking piece 202a is provided with the second blocking portion 202.

[0087] In some embodiments, the abutment of the first blade 11 against the blocking mechanism 20 comprises that the non-blade tip end of the first blade 11 contacts the blocking mechanism 20. As shown in FIG. 3a or FIG. 3b, the side edge of the first blade 11 contacts the blocking mechanism 20, so that the first blade 11 can reliably abut against the blocking mechanism 20, for example, to prevent sliding between the first blade 11 and the blocking mechanism 20, so as to reliably limit the rotation of the first blade 11 along the first direction D1, thereby improving the success rate of the first stowing of the propeller.

[0088] For example, referring to FIG. 7a to FIG. 7e in combination with FIG. 6, the blocking mechanism 20 of the parking platform comprises a hatch cover 30. Optionally, referring to FIG. 6, the actuator of the parking platform comprises a hatch cover 30 for covering the parking platform, the parking platform is in an open state when the hatch cover 30 is in a first position, and the parking platform is in a closed state when the hatch cover 30 is in a second position.

[0089] The hatch cover 30 comprises two side edge plates 31 and a connecting plate 32 for connecting the edge plates 31. The edge plates 31 and the connecting plate 32 are used to form a space capable of accommodating the movable platform. For example, the connecting plate 32 comprises a top plate 321 and a side plate 322 connected to the top plate 321, the top plate 321 is used to form the top when the hatch cover 30 is closed, and the side plate 322 is used to form the first side when the hatch cover 30 is closed. The edge plate 31 is used to form the second side when the hatch cover 30 is closed, and the first side and the second side are adjacent.

[0090] Wherein, the blocking mechanism 20 abuts against the first blade 11, comprising: the first blade 11 abutting against the outer end 301 of the edge plate 31 of the hatch cover 30 in the incomplete closing state, and the first blocking portion 201 comprises the outer end 301; the blocking mechanism 20 abuts against the second blade 12, comprising: the second blade 12 abutting against the inner side wall 302 of the edge plate 31, and the second blocking portion 202 comprises the inner side wall 302.

[0091] As shown in FIGS. 7a-7e, during the rotation of the propeller in the counterclockwise direction, the first blade 11 can abut against the outer end 301 of the edge plate 31 of the hatch cover 30, and the propeller base 10 can drive the second blade 12 to continue rotating in the counterclockwise direction to approach the first blade 11, thereby achieving the first folding of the propeller. During the rotation of the propeller in the clockwise direction, the second blade 12 can abut against the inner side wall 302 of the edge plate 31 of the hatch cover 30, and the propeller base 10 can drive the first blade 11 to continue rotating in the clockwise direction to approach the second blade 12, thereby achieving the second folding of the propeller.

[0092] For example, the first blade 11 abuts against the outer end 301 of the edge plate 31, comprising: the non-blade tip end of the first blade 11 abutting against the outer end 301 of the edge plate 31. As shown in FIGS. 7b or 7c, the side edge of the first blade 11 abuts against the outer end 301 of the edge plate 31, which can enable the first blade 11 to abut against the edge plate 31 reliably, for example, to prevent sliding between the first blade 11 and the blocking mechanism, so as to reliably limit the rotation of the first blade 11 in the first direction D1, thereby improving the success rate of the first folding of the propeller.

[0093] As shown in FIG. 7b and FIG. 7c, during the execution of the first folding, there is a gap between the first blade 11 and the second blade 12 and the side plate 322. In other words, the first blade 11 and the second blade 12 do not contact the side plate 322. In still other words, the first blade 11 contacts the edge plate 31 and is blocked by the edge plate 31 so as not to pass the edge plate 31. For example, referring to FIG. 8a, if the first blade 11 passes the edge plate 31 during the execution of the first folding, the hatch cover 30 moves too fast, causing the first blade 11 to abut the inner side of the side plate 322. In the case that there is a force between the first blade 11 and the side plate 322 during the closing of the hatch cover 30, the position of the propeller or the movable platform with the propeller will change, causing the failure of the folding of the propeller. Therefore, by slowing down the movement of the hatch cover 30, the first blade 11 will not abut the side plate 322 after passing the edge plate 31, and the first blade 11 can continue to rotate one circle to abut the edge plate 31. Therefore, during the execution of the first folding, the gap between the first blade 11 and the second blade 12 and the side plate 322 can improve the success rate of the folding.

[0094] As shown in FIG. 7d and FIG. 7e, during the execution of the second folding, there is a gap between the first blade 11 and the second blade 12 and the side plate 322. For example, referring to FIG. 8b, if the second blade 12 abuts the inner side of the side plate 322 during the execution of the second folding, although the blade seat 10 can drive the first blade 11 to rotate along the second direction D2 to approach the second blade 12, the positions of the first blade 11 and the second blade 12 after the completion of the folding are different from the positions shown in FIG. 7e, so that the positions of the blades of the propeller after the completion of the second folding are different from the preset positions, which is not conducive to the control of the propeller, such as controlling the propeller to rotate along the first direction D1 by a preset angle to enter the preset range 40.

[0095] Therefore, in actual application, the rotation speed of the propeller and the closing speed of the hatch cover can be controlled to match the speeds of the two, so as to prevent the above-mentioned folding failure caused by the too fast closing speed of the hatch cover.

[0096] In some embodiments, the tip of the first blade 11 and / or the second blade 12 is provided with an acute or rounded corner. As shown in FIG. 9a, the tip of the first blade 11 is provided with an acute corner, for example, a cutting corner can be provided on the tip of the blade, and the profile curve of the tip of the blade is in the shape of an acute corner. As shown in FIG. 9b, when the movable platform or the blocking mechanism 20 is moved, the tip of the blade may, at times, come into contact with the blocking mechanism 20, such as the outer end 301 of the edge plate 31. When the direction of the force applied by the blocking mechanism 20 to the blade through the center of rotation of the propeller or the angle between the direction of the force applied by the blocking mechanism 20 to the blade and the preset direction, which is the direction from the contact point between the blocking mechanism 20 and the blade to the center of rotation of the propeller, is less than the friction angle, the rotation of the blade is hindered by the blocking mechanism 20, so that the blade cannot continue to rotate, and the force applied by the blocking mechanism 20 to the blade pushes the movable platform away from the original position, resulting in failure of the propeller to retract. By providing the tip of the first blade 11 and / or the second blade 12 with an acute or rounded corner, the blade can continue to rotate to slide past the blocking mechanism 20 under the action of the blocking mechanism 20, preventing the rotation of the blade from being hindered by the blocking mechanism 20, thereby improving the success rate of the propeller retraction; and reducing the probability of blade bending and the damage to the blade caused by the collision between the blade and the blocking mechanism 20 such as the hatch cover 30, thereby indirectly ensuring the flight safety of the UAV.

[0097] In some embodiments, the side of the blocking mechanism 20 in contact with the first blade 11 is provided with a flexible member 301a. For example, the outer end 301 of the edge plate 31 of the hatch cover 30 is provided with a flexible member 301a. The flexible member 301a deforms under the action of the blocking mechanism 20 on the blade to change the direction of the force, preventing the rotation of the blade from being hindered by the blocking mechanism 20, thereby improving the success rate of the propeller retraction; and reducing the probability of blade bending and the damage to the blade caused by the collision between the blade and the blocking mechanism 20 such as the hatch cover 30, thereby indirectly ensuring the flight safety of the UAV.

[0098] In some embodiments, the method further comprises: in response to the propeller completing the re-retraction, controlling the propeller to rotate in the first direction D1 to a preset range 40. As shown in FIGS. 7e and 7f, after the propeller completes the re-retraction in the clockwise direction so that the angle between the first blade 11 and the second blade 12 is smaller, the propeller as a whole can be controlled to rotate in the counterclockwise direction to the preset range 40, as shown in FIG. 10, so as to accommodate the movable platform; since the angle between the first blade 11 and the second blade 12 is smaller, the space occupied by the propeller as a whole is also smaller, which is conducive to saving the accommodation space required by the movable platform.

[0099] For example, the propeller is applied to a movable platform, the movable platform comprises a plurality of the propellers, and the method further comprises: determining a preset range 40 based on the centers of the plurality of the propellers. For example, the preset range 40 is determined based on a space S4 enclosed by the centers of the plurality of the propellers; of course, the preset range 40 can also be slightly larger than the space S4 enclosed by the centers of the plurality of the propellers. For example, the preset range 40 can be a range in which the space enclosed by the centers of the plurality of the propellers extends in one or more directions, such as the rectangle S1 or the rectangle S2 shown in FIG. 10. The range S3 is a required storage space of the movable platform when the propellers are not retracted and the positions of the blades are not controlled. Therefore, the preset range 40 in the embodiments of the present application, whether it is the space S4 enclosed by the centers of the plurality of the propellers or the S1 and S2 shown in FIG. 10, is smaller than S3, achieving the effect of reducing the space occupied by the propellers.

[0100] For example, the control of the propeller to rotate in the first direction D1 to the preset range 40 comprises: controlling the propeller to rotate in the first direction D1 by a preset angle to enter the preset range 40. As shown in FIG. 7e, the angle relationship between the first blade 11 and the second blade 12 of the propeller after retraction and the preset range 40 is determinable, for example, can be determined according to the position of the hatch cover 30 and the movable platform. As shown in FIG. 7e, in the case that the position of the movable platform is relatively close to the edge plate 31 of the hatch cover 30, the preset angle is about 100 degrees to 120 degrees. Please refer to FIG. 7f in combination with FIG. 7e. By controlling the propeller to rotate in the counterclockwise direction by a corresponding preset angle, the propeller can enter the preset range 40, so that the movable platform can be completely stored in the preset range 40 shown in FIG. 10, and the preset range 40 is relatively small. The angle of rotation of the propeller can be controlled by a power device, such as an electronic speed controller.

[0101] It can be understood that the angle relationship between the propeller after retraction and the preset range 40 can not depend on the position sensor, which is beneficial to save the cost of the position sensor and does not need to design a protection for the position sensor. Of course, the position sensor can also be used to determine the positions of the first blade 11 and the second blade 12 of the propeller after retraction, and the preset angle of rotation of the propeller in the first direction D1 is determined according to the positions of the first blade 11 and the second blade 12.

[0102] For example, the response to the completion of the re-folding of the propeller, the control of the propeller rotating to the preset range 40 along the first direction D1 includes: in response to the fact that the propeller base 10 cannot drive the first propeller blade 11 to rotate along the second direction D2 to approach the second propeller blade 12, the completion of the re-folding of the propeller, the control of the propeller rotating to the preset range 40 along the first direction D1. In the process of rotating the propeller along the second direction D2, the second propeller blade 12 abuts against the blocking mechanism 20 to make the propeller base 10 drive the first propeller blade 11 to rotate along the second direction D2 to approach the second propeller blade 12. When the first propeller blade 11 overlaps or interferes with the second propeller blade 12, or interferes with the connecting structure, or other conditions occur, the propeller base 10 cannot drive the first propeller blade 11 to rotate along the second direction D2 to approach the second propeller blade 12, so as to automatically trigger the propeller to rotate to the preset range 40 along the first direction D1.

[0103] For example, the response to the completion of the re-folding of the propeller, the control of the propeller rotating to the preset range 40 along the first direction D1 includes: in response to the fact that the propeller base 10 cannot drive the first propeller blade 11 to rotate along the second direction D2 to approach the second propeller blade 12, the completion of the re-folding of the propeller, the control of the propeller rotating to the preset range 40 along the first direction D1. In the process of rotating the propeller along the second direction D2, the second propeller blade 12 abuts against the blocking mechanism 20 to make the propeller base 10 drive the first propeller blade 11 to rotate along the second direction D2 to approach the second propeller blade 12. When the first propeller blade 11 overlaps or interferes with the second propeller blade 12, or interferes with the connecting structure, or other conditions occur, the propeller base 10 cannot drive the first propeller blade 11 to rotate along the second direction D2 to approach the second propeller blade 12, so as to automatically trigger the propeller to rotate to the preset range 40 along the first direction D1.

[0104] For example, the response to the completion of the re-folding of the propeller, the control of the propeller rotating to the preset range 40 along the first direction D1 includes: in response to the fact that the propeller base 10 cannot drive the first propeller blade 11 to rotate along the second direction D2 to approach the second propeller blade 12, the completion of the re-folding of the propeller, the control of the propeller rotating to the preset range 40 along the first direction D1. In the process of rotating the propeller along the second direction D2, the second propeller blade 12 abuts against the blocking mechanism 20 to make the propeller base 10 drive the first propeller blade 11 to rotate along the second direction D2 to approach the second propeller blade 12. When the first propeller blade 11 overlaps or interferes with the second propeller blade 12, or interferes with the connecting structure, or other conditions occur, the propeller base 10 cannot drive the first propeller blade 11 to rotate along the second direction D2 to approach the second propeller blade 12, so as to automatically trigger the propeller to rotate to the preset range 40 along the first direction D1.

[0105] For example, the response to the completion of the re-folding of the propeller, the control of the propeller rotating to the preset range 40 along the first direction D1 includes: in response to the fact that the propeller base 10 cannot drive the first propeller blade 11 to rotate along the second direction D2 to approach the second propeller blade 12, the completion of the re-folding of the propeller, the control of the propeller rotating to the preset range 40 along the first direction D1. In the process of rotating the propeller along the second direction D2, the second propeller blade 12 abuts against the blocking mechanism 20 to make the propeller base 10 drive the first propeller blade 11 to rotate along the second direction D2 to approach the second propeller blade 12. When the first propeller blade 11 overlaps or interferes with the second propeller blade 12, or interferes with the connecting structure, or other conditions occur, the propeller base 10 cannot drive the first propeller blade 11 to rotate along the second direction D2 to approach the second propeller blade 12, so as to automatically trigger the propeller to rotate to the preset range 40 along the first direction D1.

[0106] Optionally, the sensor comprises a camera or other visual sensor, and the visual data of the propeller can be used to determine whether the included angle between the first blade 11 and the second blade 12 is reduced to a required angle, such as a first preset angle; when the included angle between the first blade 11 and the second blade 12 is reduced to the required angle, it can be determined that the propeller has completed the second folding, and the propeller is controlled to rotate along the first direction D1 to the preset range 40.

[0107] Optionally, the sensor comprises a position sensor, and the position sensor can be used to detect the positions of the first blade 11 and the second blade 12, and determine whether the propeller has completed the second folding.

[0108] In some embodiments, the propeller is applied to a movable platform, such as a flying vehicle, and the movable platform comprises an arm, and the propeller is arranged on the arm. The step of controlling the propeller to rotate along the first direction D1 to the preset range 40 comprises: controlling the propeller to rotate along the first direction D1 until the propeller at least partially coincides with the arm in a direction parallel to a yaw axis of the movable platform, for example, the propeller at least partially coincides with the arm in a vertical direction, in other words, the projection of the propeller and the arm on a horizontal plane at least partially coincides. The propeller is accommodated to at least partially coincide with the arm, which can reduce the required accommodation space of the movable platform.

[0109] In some embodiments, before the propeller starts the first folding, the blocking mechanism 20 is located outside the rotation range of the propeller; as shown in FIG. 7a, the hatch cover 30 is located outside the rotation range of the propeller, i.e., the blades will not abut against the hatch cover 30 when the propeller rotates.

[0110] For example, in response to the movable platform landing on the parking platform, the blocking mechanism 20 is located outside the movable platform as a whole to leave a space for the movable platform to land. For example, in response to the movable platform just landing on the parking platform, the hatch cover 30 is in an open state to leave a space for the movable platform to land.

[0111] For example, the first blade 11 and / or the second blade 12 extends out of the hatch cover 30 when the movable platform just lands on the parking platform, for example, as shown in FIG. 7a, the first blade 11 extends out of the hatch cover 30 in the transverse direction, and then the hatch cover 30 is controlled to perform a closing action to contact the first blade 11 to achieve the folding of the propeller.

[0112] Optionally, in response to the movable platform landing on the parking platform and the hatch cover 30 being closed, the hatch cover 30 can correct the position of the movable platform to accommodate the movable platform within a certain space range inside the parking platform.

[0113] Optionally, the method further comprises: during the process of implementing the one-time folding, controlling at least one of the propeller or the blocking mechanism 20 to move, so that the first blade 11 can abut against the blocking mechanism 20, thereby blocking the first blade 11 from rotating along the first direction D1. Optionally, during the process of implementing the one-time folding, the at least one of the propeller or the blocking mechanism 20 can be controlled to move while the propeller is controlled to rotate along the first direction D1; or the at least one of the propeller or the blocking mechanism 20 can be controlled to move first, and then the propeller is controlled to rotate along the first direction D1; or the propeller is controlled to rotate along the first direction D1 first, and then the at least one of the propeller or the blocking mechanism 20 is controlled to move.

[0114] Optionally, the controlling the at least one of the propeller or the blocking mechanism 20 to move comprises at least one of: the propeller is applied to a movable platform, the fuselage of the movable platform is controlled to move towards the blocking mechanism 20 to drive the propeller to move; the propeller is controlled to move relative to the fuselage and towards the blocking mechanism 20, wherein the fuselage does not move; the blocking mechanism 20 is controlled to move towards the propeller.

[0115] Optionally, the controlling the at least one of the movable platform or the blocking mechanism 20 of the stationary platform to move so that the first blade 11 abuts against the blocking mechanism 20, thereby blocking the first blade 11 from continuing to rotate along the first direction D1 comprises: the blocking mechanism 20 is controlled to move towards the movable platform so that the blocking mechanism 20 abuts against the first blade 11, thereby blocking the first blade 11 from continuing to rotate along the first direction D1. Please refer to FIG. 7a and FIG. 7b for an example of controlling the blocking mechanism 20 to move, the hatch 30 is controlled to move towards the propeller so that the blocking mechanism 20 is at least partially located within the rotation range of the propeller, thereby enabling the first blade 11 to abut against the blocking mechanism 20 when the propeller rotates along the first direction D1.

[0116] The fuselage of the movable platform can also be controlled to move towards the blocking mechanism 20 so that the blocking mechanism 20 is at least partially located within the rotation range of the propeller, and the propeller can be controlled to move relative to the fuselage, for example, the arm is controlled to rotate so that the blocking mechanism 20 is at least partially located within the rotation range of the propeller. Of course, it is not limited thereto, for example, the blocking mechanism 20 can be controlled to move towards the propeller and the propeller can be controlled to move relative to the fuselage.

[0117] For example, the control of the movement of at least one of the movable platform or the blocking mechanism 20 to abut the first blade 11 includes: control of the movement of at least one of the movable platform or the blocking mechanism 20 to abut the non-tips of the first blade 11. As shown in FIG. 7b or FIG. 7c, the non-tips of the first blade 11 abut the outer end 301 of the edge plate 31, which can make the first blade 11 abut the edge plate 31 reliably, for example, to prevent the first blade 11 from sliding with the blocking mechanism, so as to reliably limit the rotation of the first blade 11 along the first direction D1, thereby improving the success rate of the one-time folding of the propeller.

[0118] In some embodiments, the control of the movement of the blocking mechanism 20 towards the movable platform includes: control of the movement of the hatch cover 30 from the first position to the second position, and the hatch cover 30 contacts the first blade 11 during the movement of the hatch cover 30 from the first position to the second position. Please refer to FIG. 7a to FIG. 7f in combination with FIG. 6, the hatch cover 30 can abut the first blade 11 during the switching of the hatch cover 30 from the open state to the closed state, so as to limit the rotation of the first blade 11 along the first direction D1, thereby enabling the propeller carrier 10 to drive the second blade 12 to continue rotating along the first direction D1 to approach the first blade 11, thereby achieving the one-time folding of the propeller.

[0119] Optionally, the propeller or the blocking mechanism 20 can be controlled to stop moving when the blocking mechanism 20 abuts the first blade 11, that is, the one-time folding of the propeller can be completely achieved by the rotation of the second blade 12 along the first direction D1 to approach the first blade 11 driven by the propeller carrier 10. Optionally, the propeller or the blocking mechanism 20 can continue to move when the blocking mechanism 20 abuts the first blade 11, so that the first blade 11 is driven by the blocking mechanism 20 to approach the second blade 12, thereby improving the folding efficiency. For example, whether the blocking mechanism 20 abuts the first blade 11 can be determined according to the sensor data of the position sensor and / or the visual sensor.

[0120] In some embodiments, the method further comprises: in response to the completion of the first folding of the propeller, controlling the propeller or the blocking mechanism 20 to stop moving. The blocking mechanism 20 that can prevent further movement will cause the propeller to be in continuous hard contact with the propeller, which can cause damage to the blades. For example, in response to the completion of the first folding of the propeller, the control of the moving of the actuator, such as the hatch cover 30 of the parking platform, is stopped. As shown in FIG. 7c, the propeller completes the first folding, and the propeller or the blocking mechanism 20 can be controlled to stop moving; then, as shown in FIGS. 7d and 7e, the propeller is controlled to rotate in the second direction D2, so that the second blade 12 abuts against the blocking mechanism 20 and the first blade 11 is driven by the propeller base 10 to approach the second blade 12, thereby achieving the second folding of the propeller.

[0121] For example, the response to the completion of the first folding of the propeller, the control of the propeller or the blocking mechanism 20 to stop moving includes: in response to the propeller base 10 being unable to drive the second blade 12 to rotate in the first direction D1 to approach the first blade 11, the propeller or the blocking mechanism 20 is controlled to stop moving, so that the propeller or the blocking mechanism 20 can be automatically triggered to stop moving. Optionally, when the propeller is controlled to rotate in the first direction D1 in step S110, the completion of the first folding of the propeller can be determined based on a stall signal of a power device that drives the propeller to rotate.

[0122] For example, the abutment of the second blade 12 against the blocking mechanism 20 includes: the abutment of the second blade 12 against the blocking mechanism 20 that stops moving. By controlling the propeller or the blocking mechanism 20 to stop moving when the propeller completes the first folding, the abutment of the second blade 12 against the inner side of the side plate 322 during the process of the second folding of the propeller can be prevented, so that the positions of the first blade 11 and the second blade 12 when the folding is completed are different from the positions shown in FIG. 7e.

[0123] Optionally, the instruction to control the propeller or the blocking mechanism 20 to stop moving is generated based on a stall signal of a power device that drives the propeller to rotate. The power device includes, for example, a motor. When the power device stalls, it is determined that the propeller base 10 is unable to drive the second blade 12 to rotate in the first direction D1 to approach the first blade 11, and it is determined that the propeller completes the first folding, and the propeller or the blocking mechanism 20 is controlled to stop moving.

[0124] Optionally, based on the sensor detecting that the paddle base 10 can no longer drive the second paddle 12 to rotate along the first direction D1 to approach the first paddle 11, the control unit controls the propeller or blocking mechanism 20 to stop moving. For example, the sensor includes a camera or other visual sensor, and based on the visual data of the propeller, it can be determined whether the included angle between the first paddle 11 and the second paddle 12 is reduced to a required angle, such as a second preset angle, which is greater than the first preset angle. When the included angle between the first paddle 11 and the second paddle 12 is reduced to the required angle, it can be determined that the propeller completes the first folding, and the control unit controls the propeller or blocking mechanism 20 to stop moving. For example, the sensor includes a position sensor, and based on the position sensor, the positions of the first paddle 11 and the second paddle 12 can be detected, and it can be determined whether the propeller completes the first folding.

[0125] In some embodiments, in response to the propeller completing the first folding, the control unit controls the actuator to stop moving; in response to the propeller completing the second folding, the control unit controls the propeller to rotate along the first direction D1 to a preset range 40; and in response to the propeller entering the preset range 40, the control unit controls the actuator to resume moving. So that the actuator performs a corresponding preset function.

[0126] For example, as shown in FIG. 7c, the actuator includes a hatch 30 for covering the landing platform. In response to the propeller completing the first folding, the control unit controls the hatch 30 to stop moving; as shown in FIG. 7e and FIG. 7f, in response to the propeller completing the second folding, the control unit controls the propeller to rotate along the first direction D1 to a preset range 40; and in response to the propeller entering the preset range 40, the control unit controls the hatch 30 to resume moving, thereby closing the landing platform and storing the movable platform in a storage space formed by the hatch 30.

[0127] The method for folding propellers provided by the embodiments of the present application comprises: controlling a propeller to rotate along a first direction D1, the propeller comprising a propeller base 10, a first propeller blade 11 rotatably connected to the propeller base 10, and a second propeller blade 12 rotatably connected to the propeller base 10; wherein during the rotation of the propeller along the first direction D1, the first propeller blade 11 can abut against a blocking mechanism 20, and the propeller base 10 can drive the second propeller blade 12 to rotate along the first direction D1 to approach the first propeller blade 11, thereby achieving the first folding of the propeller; and controlling the propeller to rotate along a second direction D2 opposite to the first direction D1, during the rotation of the propeller along the second direction D2, the second propeller blade 12 can abut against the blocking mechanism 20, and the propeller base 10 can drive the first propeller blade 11 to rotate along the second direction D2 to approach the second propeller blade 12, thereby achieving the second folding of the propeller. After the propeller is controlled to rotate along the first direction D1 to be folded once by the blocking mechanism 20, the propeller is controlled to rotate along the second direction D2 opposite to the first direction D1 to be folded again by the blocking mechanism 20, so that the included angle between different propeller blades of the folded propeller is further reduced, and the folding effect of the propeller blades is better.

[0128] In some embodiments, in response to the completion of the second folding of the propeller, the propeller is controlled to rotate along the first direction D1 to a preset range 40; the folded propeller is actively controlled to rotate to the preset range 40, compared with forcibly pressing the propeller blades into the preset range 40 of the parking platform by the closing action of the hatch cover 30, the pressing collision between the propeller blades and the hatch cover 30 can be prevented, and the damage to the propeller blades can be prevented, thereby affecting the safety of the movable platform in use.

[0129] In some embodiments, the position of the propeller blades can be detected without the need to set a position sensor, for example, the position of the propeller blades and the folding state can be determined according to the stall signal, which is beneficial to save the cost of the position sensor and does not need to design a protection for the position sensor.

[0130] In some embodiments, referring to FIGS. 7a-7f, the blocking mechanism 20 includes a hatch cover 30 of a parking platform, the folding method includes: when the movable platform lands on the parking platform, the hatch cover 30 is located outside the entire movable platform; the propeller is controlled to rotate along a first direction D1 at a second speed, and the hatch cover 30 is controlled to move towards the propeller, so that the first blade 11 abuts against the outer end 301 of the edge plate 31 of the hatch cover 30, and the propeller seat 10 can drive the second blade 12 to continue to rotate along the first direction D1 to approach the first blade 11; based on the stall signal of the power device driving the rotation of the propeller, the folding of the propeller is determined to be completed once, and the hatch cover 30 is controlled to stop moving towards the propeller; the propeller is controlled to rotate along a second direction D2 at the second speed; during the rotation of the propeller along the second direction D2, the second blade 12 can abut against the hatch cover 30, and the propeller seat 10 can drive the first blade 11 to rotate along the second direction D2 to approach the second blade 12; based on the stall signal of the power device driving the rotation of the propeller, the folding of the propeller is determined to be completed again; in response to the completion of the folding of the propeller, the propeller is controlled to rotate along the first direction D1 to a preset range 40; the hatch cover 30 is controlled to move towards the propeller so that the movable platform is located in the accommodation space formed by the hatch cover 30.

[0131] Please refer to FIG. 11, which is a flowchart of a control method of a movable platform system according to an embodiment of the present application. As shown in FIG. 12, the movable platform system includes a movable platform and a parking platform for parking the movable platform.

[0132] As shown in FIG. 11, the control method of the movable platform system includes steps S310-S320.

[0133] In step S310, the propeller of the movable platform located on the parking platform is controlled to rotate along a first direction D1, the propeller includes a propeller seat 10, a first blade 11 rotatably connected to the propeller seat 10, and a second blade 12 rotatably connected to the propeller seat 10; wherein during the rotation of the propeller along the first direction D1, the first blade 11 can abut against the blocking mechanism 20 of the parking platform, the propeller seat 10 can drive the second blade 12 to rotate along the first direction D1 to approach the first blade 11, and the folding of the propeller is completed once; and

[0134] In step S320, the propeller is controlled to rotate along a second direction D2 opposite to the first direction D1, during the rotation of the propeller along the second direction D2, the second blade 12 can abut against the blocking mechanism 20, the propeller seat 10 can drive the first blade 11 to rotate along the second direction D2 to approach the second blade 12, and the folding of the propeller is completed again.

[0135] Optionally, the method further comprises: in response to the propeller completing the re-folding, controlling the propeller to rotate to a preset range 40 along the first direction D1.

[0136] Optionally, the response to the propeller completing the re-folding, controlling the propeller to rotate to a preset range 40 along the first direction D1, comprises:

[0137] In response to the propeller completing the re-folding in response to the propeller hub 10 being unable to continue to rotate along the second direction D2 to drive the first blade 11 to rotate along the second direction D2 to approach the second blade 12, the propeller completing the re-folding, the propeller is controlled to rotate to a preset range 40 along the first direction D1.

[0138] Optionally, the stall signal of the power device driving the rotation of the propeller generates an instruction to control the propeller to rotate to a preset range 40 along the first direction D1.

[0139] Optionally, the stall signal at least includes one of the following: the current of the power device is greater than or equal to a current threshold, the output torque of the power device is greater than or equal to a torque threshold, the temperature of the power device is greater than or equal to a temperature threshold, and the rotation speed of the power device is less than or equal to a rotation speed threshold.

[0140] Optionally, the control of the propeller to rotate to a preset range 40 along the first direction D1 is based on the sensor of the movable platform or the parking platform detecting that the propeller has completed the re-folding.

[0141] Optionally, the control of the propeller to rotate to a preset range 40 along the first direction D1 comprises: controlling the propeller to rotate a preset angle along the first direction D1 to enter the preset range 40.

[0142] Optionally, the movable platform comprises a plurality of propellers, and the control method further comprises: determining the preset range 40 based on the centers of the plurality of propellers.

[0143] Optionally, the preset range 40 is determined based on a space enclosed by the centers of the plurality of propellers.

[0144] Optionally, the movable platform comprises an arm, and the propeller is arranged on the arm; the step of controlling the propeller to rotate to a preset range 40 along the first direction D1 comprises:

[0145] controlling the propeller to rotate along the first direction D1 until the propeller at least partially coincides with the arm in a direction parallel to the yaw axis of the movable platform.

[0146] Optionally, before the propeller starts the first time of folding, the blocking mechanism 20 is located outside the rotation range of the propeller; the control method further comprises: during the implementation of the first time of folding, controlling at least one of the movable platform or the blocking mechanism 20 to move, so that the first blade 11 can abut against the blocking mechanism 20, thereby blocking the first blade 11 from rotating along the first direction D1.

[0147] Optionally, the method further comprises: in response to the propeller completing the first time of folding, controlling the movable platform or the blocking mechanism 20 to stop moving.

[0148] Optionally, the response to the propeller completing the first time of folding, controlling the movable platform or the blocking mechanism 20 to stop moving, comprises:

[0149] In response to the fact that the propeller base 10 can no longer drive the second blade 12 to rotate along the first direction D1 to approach the first blade 11, controlling the movable platform or the blocking mechanism 20 to stop moving.

[0150] Optionally, the control of the stop of the movement of the movable platform or the blocking mechanism 20 of the stop platform is based on a stall signal of a power device driving the rotation of the propeller.

[0151] Optionally, the abutment of the second blade 12 against the blocking mechanism 20 comprises: the abutment of the second blade 12 against the blocking mechanism 20 that stops moving.

[0152] Optionally, the control of the movement of at least one of the movable platform or the blocking mechanism 20 of the stop platform, so that the first blade 11 abuts against the blocking mechanism 20, thereby blocking the first blade 11 from continuing to rotate along the first direction D1, comprises:

[0153] Controlling the blocking mechanism 20 to move towards the movable platform, so that the blocking mechanism 20 abuts against the first blade 11, thereby blocking the first blade 11 from continuing to rotate along the first direction D1.

[0154] Optionally, the blocking mechanism 20 comprises an executing member of the stop platform, which is configured to move between a first position and a second position when performing a preset function, and the executing member abuts against the first blade 11 during the movement of the executing member from the first position to the second position.

[0155] Optionally, the control method further comprises: in response to the propeller completing the first time of folding, controlling the executing member to stop moving; in response to the propeller completing the second time of folding, controlling the propeller to rotate along the first direction D1 to a preset range 40; and

[0156] in response to the propeller entering the preset range 40, controlling the actuator to resume movement.

[0157] Optionally, the actuator comprises a hatch 30 for covering the landing platform, when the hatch 30 is in a first position, the landing platform is in an open state; when the hatch 30 is in a second position, the landing platform is in a closed state.

[0158] The step of moving the blocking mechanism 20 towards the movable platform comprises:

[0159] controlling the hatch 30 to move from the first position to the second position, during the movement of the hatch 30 from the first position to the second position, the hatch 30 is in contact with the first blade 11.

[0160] Optionally, the method further comprises: in response to the propeller completing the first folding, controlling the hatch 30 to stop moving; in response to the propeller completing the second folding, controlling the propeller to rotate to the preset range 40 along the first direction D1; and

[0161] in response to the propeller entering the preset range 40, controlling the hatch 30 to resume movement, thereby closing the landing platform.

[0162] Optionally, in response to the movable platform just landing on the landing platform, the hatch 30 is in an open state to leave a space for the movable platform to land, the first blade 11 and / or the second blade 12 extends out of the hatch 30, and then the hatch 30 is controlled to perform a closing action to contact the first blade 11.

[0163] Optionally, the preset function comprises at least one of the following: a closing function, a battery replacement function, a sensor cleaning function.

[0164] Optionally, in response to the movable platform landing on the landing platform, the blocking mechanism 20 is located outside the whole movable platform to leave a space for the movable platform to land; in response to the movable platform landing on the landing platform, the blocking mechanism 20 moves to contact the first blade 11.

[0165] Optionally, the control of the movement of at least one of the movable platform or the blocking mechanism 20 of the landing platform comprises:

[0166] controlling the movement of at least one of the movable platform or the blocking mechanism 20 of the landing platform to make the non-tip end of the first blade 11 contact the blocking mechanism 20.

[0167] Optionally, the blocking mechanism 20 comprises a first blocking portion 201 and a second blocking portion 202, the first blocking portion 201 is configured to abut against the first blade 11 when the propeller rotates along the first direction D1, and the second blocking portion 202 is configured to abut against the second blade 12 when the propeller rotates along the second direction D2.

[0168] Optionally, the blocking mechanism 20 comprises a blocking piece in an integral configuration, the first blocking portion 201 and the second blocking portion 202 are two adjacent sides of the blocking piece; or the blocking mechanism 20 comprises a first blocking piece 201a and a second blocking piece 202a, the first blocking piece 201a is provided with the first blocking portion 201, and the second blocking piece 202a is provided with the second blocking portion 202.

[0169] Optionally, the blocking mechanism 20 comprises a hatch cover 30, the hatch cover 30 comprises two edge plates 31 and a connecting plate 32 for connecting the edge plates 31; wherein the blocking mechanism 20 abuts against the first blade 11, comprising: the first blade 11 abuts against an outer end portion 301 of the edge plate 31 of the hatch cover 30 in the incomplete closing state, and the first blocking portion 201 comprises the outer end portion 301; the blocking mechanism 20 abuts against the second blade 12, comprising: the second blade 12 abuts against an inner side wall 302 of the edge plate 31, and the second blocking portion 202 comprises the inner side wall 302.

[0170] Optionally, the first blade 11 abuts against the outer end portion 301 of the edge plate 31, comprising: a non-tip end of the first blade 11 abuts against the outer end portion 301 of the edge plate 31.

[0171] Optionally, the connecting plate 32 comprises a top plate 321 and a side plate 322 connected to the top plate 321, the top plate 321 is used to form a top portion when the hatch cover 30 is closed, the side plate 322 is used to form a first side portion when the hatch cover 30 is closed, the edge plate 31 is used to form a second side portion when the hatch cover 30 is closed, and the first side portion and the second side portion are adjacent; wherein, during the one-time folding and / or the re-folding of the propeller, there is a gap between the first blade 11 and the second blade 12 and the side plate 322.

[0172] Optionally, the control is to rotate the propeller along the first direction D1, during the rotation of the propeller along the first direction D1, the first blade 11 can abut against the blocking mechanism 20 of the parking platform, and the second blade 12 can be driven by the propeller base 10 to rotate along the first direction D1 to approach the first blade 11, so as to realize the one-time folding of the propeller, comprising:

[0173] controlling the propeller to rotate along the first direction D1 so that the first blade 11 abuts against the blocking mechanism 20; and

[0174] The propeller is controlled to continue rotating along the first direction D1, so that the propeller base 10 drives the second blade 12 to rotate and move closer to the first blade 11.

[0175] Optionally, controlling the propeller to rotate in a second direction D2 opposite to the first direction D1, during the rotation of the propeller along the second direction D2, the second blade 12 can abut against the blocking mechanism 20, and the propeller base 10 can drive the first blade 11 to rotate along the second direction D2 to approach the second blade 12, thereby realizing the retraction of the propeller, including:

[0176] The propeller is controlled to rotate along the second direction D2, wherein the propeller base 10 drives the first blade 11 and the second blade 12 to rotate as a whole, so that the second blade 12 abuts against the blocking mechanism 20; and

[0177] The propeller is controlled to continue rotating along the second direction D2, so that the propeller base 10 drives the first blade 11 to rotate and move closer to the second blade 12.

[0178] Optionally, the propeller mount 10 can drive the second blade 12 to rotate along the first direction D1 to approach the first blade 11, thereby achieving one retraction of the propeller, including:

[0179] The propeller mount 10 can drive the second blade 12 to rotate along the first direction D1 to approach the first blade 11 until the propeller mount 10 can no longer drive the second blade 12 to rotate along the first direction D1, thus completing one retraction of the propeller.

[0180] Optionally, controlling the propeller to continue rotating along the second direction D2, so that the propeller base 10 can drive the first blade 11 to rotate along the second direction D2 to approach the second blade 12, thereby achieving the retraction of the propeller, includes:

[0181] The propeller is controlled to continue rotating along the second direction D2, so that the propeller base 10 can drive the first blade 11 to rotate along the second direction D2 to approach the second blade 12, until the propeller can no longer continue to rotate along the second direction D2, thus completing the retraction of the propeller.

[0182] Optionally, the tips of the first blade 11 and / or the second blade 12 are set with sharp or rounded corners.

[0183] Optionally, a flexible element 301a is provided on the side of the blocking mechanism 20 that contacts the first blade 11.

[0184] Optionally, the method further includes: controlling the propeller to rotate at a first speed before the movable platform lands on the parking platform;

[0185] In response to the movable platform landing on the parking platform, the propeller is controlled to rotate at a second speed, wherein the second speed is less than the first speed, so that the speed of the propeller is reduced during the folding process, preventing the propeller from colliding with the blocking mechanism 20 and causing damage.

[0186] Optionally, the movable platform comprises an aircraft.

[0187] The specific principles and implementation manners of the control method of the movable platform system provided by the embodiments of the present application are similar to the folding method of the foregoing embodiments, and will not be described here.

[0188] Please refer to Fig. 13, which is a flowchart of the control method of the parking platform provided by the embodiments of the present application. The control method of the parking platform comprises steps S410 to S420.

[0189] Step S410, the blocking mechanism 20 of the parking platform is controlled to abut against the first blade 11 of the propeller of the movable platform, so that the second blade 12 of the propeller is driven to approach the first blade 11 when the propeller rotates along the first direction D1, realizing the first folding of the propeller; and

[0190] Step S420, the blocking mechanism 20 is controlled to abut against the second blade 12, so that the first blade 11 is driven to approach the second blade 12 when the propeller rotates along the second direction D2 opposite to the first direction D1, realizing the second folding of the propeller.

[0191] It should be noted that controlling the blocking mechanism 20 to abut against the first blade 11 can mean controlling the blocking mechanism 20 to move to abut against the first blade 11, or can mean controlling the blocking mechanism 20 to keep the current position and abut against the first blade 11; similarly, controlling the blocking mechanism 20 to abut against the second blade 12 can mean controlling the blocking mechanism 20 to move to abut against the second blade 12, or can mean controlling the blocking mechanism 20 to keep the current position and abut against the second blade 12.

[0192] Optionally, before the propeller starts the first folding, the blocking mechanism 20 is located outside the rotation range of the propeller; the control method further comprises: during the implementation of the first folding, the blocking mechanism 20 is controlled to move, so that the first blade 11 can abut against the blocking mechanism 20, thereby blocking the first blade 11 from rotating along the first direction D1.

[0193] Optionally, the method further comprises: in response to the completion of the first folding of the propeller, the blocking mechanism 20 is controlled to stop moving.

[0194] Optionally, the propeller comprises a propeller base 10, a first propeller blade 11 rotatably connected with the propeller base 10, and a second propeller blade 12 rotatably connected with the propeller base 10; and the step of controlling the blocking mechanism 20 to stop moving in response to the propeller completing the first folding comprises:

[0195] the step of controlling the blocking mechanism 20 to stop moving in response to the propeller base 10 being unable to further rotate the second propeller blade 12 along the first direction D1 to approach the first propeller blade 11.

[0196] Optionally, the instruction of controlling the stopping platform to stop moving is generated based on a stall signal of a power device driving the propeller to rotate.

[0197] Optionally, the blocking mechanism 20 abuts against the second propeller blade 12, comprising: the second propeller blade 12 abutting against the stopping blocking mechanism 20.

[0198] Optionally, the step of controlling the blocking mechanism 20 to move comprises:

[0199] the step of controlling the blocking mechanism 20 to move towards the movable platform so that the blocking mechanism 20 abuts against the first propeller blade 11 to block the first propeller blade 11 from continuously rotating along the first direction D1.

[0200] Optionally, the blocking mechanism 20 comprises an executing member of the stopping platform, the executing member being configured to move between a first position and a second position when performing a preset function, and the executing member abuts against the first propeller blade 11 during the movement of the executing member from the first position to the second position.

[0201] Optionally, the control method further comprises: controlling the executing member to stop moving in response to the propeller completing the first folding; controlling the propeller to rotate along the first direction D1 to a preset range 40 in response to the propeller completing the second folding; and

[0202] controlling the executing member to resume movement in response to the propeller entering the preset range 40.

[0203] Optionally, the executing member comprises a hatch cover 30 for covering the stopping platform, the stopping platform being in an open state when the hatch cover 30 is in a first position, and the stopping platform being in a closed state when the hatch cover 30 is in a second position.

[0204] the step of controlling the blocking mechanism 20 to move towards the movable platform comprises:

[0205] The control cabin cover 30 is moved from the first position to the second position, and during the movement of the cabin cover 30 from the first position to the second position, the cabin cover 30 is in contact with the first blade 11.

[0206] Optionally, the method further comprises: in response to the completion of the first folding of the propeller, controlling the cabin cover 30 to stop moving; in response to the completion of the second folding of the propeller, controlling the propeller to rotate to a preset range 40 along the first direction D1; and

[0207] In response to the propeller entering the preset range 40, the cabin cover 30 is controlled to resume movement, thereby closing the parking platform.

[0208] Optionally, in response to the movable platform just landing on the parking platform, the cabin cover 30 is in an open state to leave a space for the landing of the movable platform, and the first blade 11 and / or the second blade 12 extends out of the cabin cover 30, and then the cabin cover 30 is controlled to perform a closing action to be in contact with the first blade 11.

[0209] Optionally, the preset function includes at least one of the following: a cabin closing function, a battery replacement function, and a sensor cleaning function.

[0210] Optionally, in response to the movable platform landing on the parking platform, the blocking mechanism 20 is located outside the whole movable platform to leave a space for the landing of the movable platform; and in response to the movable platform landing on the parking platform, the blocking mechanism 20 is moved to be in contact with the first blade 11.

[0211] Optionally, the control of the movement of the blocking mechanism 20 is to make the first blade 11 abut against the blocking mechanism 20, which comprises:

[0212] The blocking mechanism 20 is controlled to move to make the non-blade tip end of the first blade 11 contact the blocking mechanism 20.

[0213] Optionally, the blocking mechanism 20 comprises a first blocking portion 201 and a second blocking portion 202, the first blade 11 abuts against the first blocking portion 201 when the propeller rotates along the first direction D1, and the second blade 12 abuts against the second blocking portion 202 when the propeller rotates along the second direction D2.

[0214] Optionally, the blocking mechanism 20 comprises a blocking piece of integral structure, the first blocking portion 201 and the second blocking portion 202 are two adjacent sides of the blocking piece; or the blocking mechanism 20 comprises a first blocking piece 201a and a second blocking piece 202a, the first blocking piece 201a is provided with the first blocking portion 201, and the second blocking piece 202a is provided with the second blocking portion 202.

[0215] Optionally, the blocking mechanism 20 includes a hatch 30, the hatch 30 includes two side edge plates 31 and a connecting plate 32 for connecting the edge plates 31; wherein the blocking mechanism 20 is in abutment with the first blade 11, including: the first blade 11 is in abutment with an outer end 301 of the edge plate 31 of the hatch 30 in the incomplete closing state, the first blocking portion 201 includes the outer end 301; the blocking mechanism 20 is in abutment with the second blade 12, including: the second blade 12 is in abutment with an inner side wall 302 of the edge plate 31, the second blocking portion 202 includes the inner side wall 302.

[0216] Optionally, the first blade 11 is in abutment with the outer end 301 of the edge plate 31, including: a non-tip end of the first blade 11 is in abutment with the outer end 301 of the edge plate 31.

[0217] Optionally, the connecting plate 32 includes a top plate 321 and a side plate 322 connected with the top plate 321, the top plate 321 is used to form a top when the hatch 30 is closed, the side plate 322 is used to form a first side when the hatch 30 is closed, the edge plate 31 is used to form a second side when the hatch 30 is closed, the first side and the second side are adjacent; wherein during the execution of the one-time folding and / or the re-folding of the propeller, there is a gap between the first blade 11 and the second blade 12 and the side plate 322.

[0218] Optionally, the side of the blocking mechanism 20 in contact with the first blade 11 is provided with a flexible piece 301a.

[0219] Optionally, the movable platform includes an aircraft.

[0220] The specific principles and implementation manners of the control method of the parking platform provided by the embodiments of the present application are similar to the propeller folding method of the foregoing embodiments, and will not be described here.

[0221] Please refer to FIG. 14 in combination with the foregoing embodiments, which is a schematic block diagram of a movable platform provided by an embodiment of the present application.

[0222] The movable platform includes a propeller 110, and the movable platform further includes one or more processors 101 and one or more memories 102 storing computer program codes, which are configured to jointly act to enable the movable platform to perform the propeller folding method of the foregoing embodiments of the present application.

[0223] In some embodiments, the one or more processors 101 and the one or more memories 102 storing computer program codes are configured to jointly act to enable the movable platform to perform the following steps:

[0224] controlling the propeller to rotate along a first direction D1, the propeller comprising a propeller base 10, a first propeller blade 11 rotatably connected with the propeller base 10, and a second propeller blade 12 rotatably connected with the propeller base 10; wherein during the rotation of the propeller along the first direction D1, the first propeller blade 11 is capable of abutting against the blocking mechanism 20, and the propeller base 10 is capable of driving the second propeller blade 12 to rotate along the first direction D1 to approach the first propeller blade 11, thereby achieving a first folding of the propeller; and

[0225] controlling the propeller to rotate along a second direction D2 opposite to the first direction D1, during the rotation of the propeller along the second direction D2, the second propeller blade 12 is capable of abutting against the blocking mechanism 20, and the propeller base 10 is capable of driving the first propeller blade 11 to rotate along the second direction D2 to approach the second propeller blade 12, thereby achieving a second folding of the propeller.

[0226] In some embodiments, the one or more processors 120 and the one or more memories 130 storing computer program codes are configured to collectively cause the movable platform to perform the following steps:

[0227] controlling the propeller to rotate along a first direction D1, the propeller comprising a propeller base 10, a first propeller blade 11 rotatably connected with the propeller base 10, and a second propeller blade 12 rotatably connected with the propeller base 10;

[0228] controlling the propeller to rotate along a first direction D1, the propeller comprising a propeller base 10, a first propeller blade 11 rotatably connected with the propeller base 10, and a second propeller blade 12 rotatably connected with the propeller base 10;

[0229] controlling the propeller to rotate along a second direction D2 opposite to the first direction D1; and

[0230] controlling the propeller to rotate along a second direction D2 opposite to the first direction D1, during the rotation of the propeller along the second direction D2, the second propeller blade 12 is capable of abutting against the blocking mechanism 20, and the propeller base 10 is capable of driving the first propeller blade 11 to rotate along the second direction D2 to approach the second propeller blade 12, thereby achieving a second folding of the propeller.

[0231] The specific principles and implementation manners of the movable platform provided by the embodiments of the present application are similar to the prop folding method of the foregoing embodiments, and will not be described herein.

[0232] Please refer to FIG. 15 in combination with the foregoing embodiments, which is a schematic block diagram of a movable platform system provided by an embodiment of the present application.

[0233] The movable platform system includes a movable platform 210 and a parking platform 220 for parking the movable platform 210, and includes one or more processors 201 and one or more memories 202 storing computer program codes. The processor 201 can be arranged on the movable platform 210 or the parking platform 220, and the memory 202 can be arranged on the movable platform 210 or the parking platform 220; or the movable platform system further includes a control terminal, and the processor 201 and the memory 202 can be arranged on the control terminal.

[0234] The one or more processors 201 and the one or more memories 202 storing computer program codes are configured to jointly act to enable the movable platform system to perform the control method of the movable platform system as described above.

[0235] The specific principles and implementation manners of the movable platform system provided by the embodiments of the present application are similar to the folding method of the foregoing embodiments, and will not be repeated here.

[0236] Please refer to Fig. 16 in combination with the foregoing embodiments, which is a schematic block diagram of a parking platform provided by the embodiments of the present application.

[0237] The parking platform is used for parking a movable platform, and includes one or more processors 310 and one or more memories 320 storing computer program codes, which are configured to jointly act to enable the parking platform to perform the control method of the parking platform as described above.

[0238] The specific principles and implementation manners of the parking platform provided by the embodiments of the present application are similar to the folding method of the foregoing embodiments, and will not be repeated here.

[0239] Please refer to Fig. 17 in combination with the foregoing embodiments, which is a schematic block diagram of a control device provided by some embodiments of the present application. The control device includes one or more processors 401 and one or more memories 402 storing computer program codes, which are configured to jointly act to enable a corresponding device to perform the steps of a corresponding method. The control device can be arranged on a movable platform, or can be arranged on a parking platform, or can be arranged on other devices other than the movable platform and the parking platform, such as a control terminal.

[0240] In some embodiments, the one or more processors 401 and the one or more memories 402 storing computer program codes are configured to jointly act to enable the movable platform to perform the folding method as described above.

[0241] In some embodiments, the one or more processors 401 and the one or more memories 402 storing computer program codes are configured to act in conjunction to cause the movable platform system to perform the aforementioned method of controlling the movable platform system.

[0242] In some embodiments, the one or more processors 401 and the one or more memories 402 storing computer program codes are configured to act in conjunction to cause the movable platform system to perform the aforementioned method of controlling the movable platform system.

[0243] The specific principles and implementation manners of the control device provided by the embodiments of the present application are similar to those of the method of the aforementioned embodiments, and thus are not described herein again.

[0244] Optionally, the aforementioned processor and memory can be connected through a bus, such as an I2C (Inter-integrated Circuit) bus. Specifically, the processor can be a micro-controller unit (MCU), a central processing unit (CPU) or a digital signal processor (DSP), etc. Specifically, the memory can be a flash chip, a read-only memory (ROM) disk, an optical disk, a U disk or a mobile hard disk, etc. The processor is used to run the computer program stored in the memory, and to implement the corresponding steps when the computer program is executed.

[0245] The embodiments of the present application further provide a computer readable storage medium, which stores a computer program. The computer program includes program instructions. When the computer program is executed by a processor, the processor implements the steps of the method provided by the aforementioned embodiments.

[0246] The computer readable storage medium can be an internal storage unit of the device, such as a hard disk or a memory of the movable platform or the stationary platform. The computer readable storage medium can also be an external storage device of the device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc.

[0247] It should be understood that the terms used in the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application.

[0248] It should also be understood that, in the claims hereinafter presented by way of example, any means for performing an operation and any reference characters for performing an operation are intended to encompass any means for performing the operation and any reference characters for performing the operation, even if performing the operation is not specifically claimed.

[0249] The above description is only specific embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present application, and these modifications or replacements should be encompassed in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method of folding oars, characterized in that, The method comprises: controlling a propeller to rotate along a first direction, the propeller comprising a propeller base, a first propeller blade rotatably connected to the propeller base, and a second propeller blade rotatably connected to the propeller base; wherein during rotation of the propeller along the first direction, the first propeller blade is capable of abutting against a blocking mechanism, and the propeller base is capable of driving the second propeller blade to rotate along the first direction to approach the first propeller blade, thereby achieving a first folding of the propeller; and controlling the propeller to rotate along a second direction opposite to the first direction, during rotation of the propeller along the second direction, the second propeller blade is capable of abutting against the blocking mechanism, and the propeller base is capable of driving the first propeller blade to rotate along the second direction to approach the second propeller blade, thereby achieving a second folding of the propeller.

2. The method of claim 1, wherein, The method further comprises: in response to the propeller completing the second folding, controlling the propeller to rotate along the first direction to a preset range.

3. The method of claim 2, wherein, The controlling the propeller to rotate along the first direction to the preset range in response to the propeller completing the second folding comprises: in response to the propeller base being unable to drive the first propeller blade to rotate along the second direction to approach the second propeller blade, the propeller completing the second folding, and controlling the propeller to rotate along the first direction to the preset range.

4. The method of claim 3, wherein, generating an instruction of controlling the propeller to rotate along the first direction to the preset range based on a stall signal of a power device driving the propeller to rotate.

5. The method of claim 4, wherein, The stall signal at least comprises one of the following: a current of the power device being greater than or equal to a current threshold, an output torque of the power device being greater than or equal to a torque threshold, a temperature of the power device being greater than or equal to a temperature threshold, and a rotation speed of the power device being less than or equal to a rotation speed threshold.

6. The method of claim 2, wherein, controlling the propeller to rotate along the first direction to the preset range based on a sensor detecting that the propeller completes the second folding.

7. The method of claim 2, wherein, The controlling the propeller to rotate along the first direction to the preset range comprises: controlling the propeller to rotate along the first direction by a preset angle to enter the preset range.

8. The method of claim 2, wherein, The propeller is applied to a movable platform, the movable platform comprising a plurality of the propellers, and the method further comprises: determining the preset range based on centers of the plurality of the propellers.

9. The method of claim 8, wherein, The preset range is determined based on a space enclosed by centers of the plurality of the propellers.

10. The method of claim 2, wherein, The propeller is applied to a movable platform, the movable platform comprising an arm, and the propeller is arranged on the arm; and the controlling the propeller to rotate along the first direction to the preset range comprises: controlling the propeller to rotate along the first direction until the propeller at least partially coincides with the arm in a direction parallel to a yaw axis of the movable platform.

11. The method according to any one of claims 1-10, characterized in that, The blocking mechanism is located outside the rotation range of the propeller before the propeller starts the one-time folding; the method further comprises: during the implementation of the one-time folding, controlling at least one of the propeller or the blocking mechanism to move, so that the first blade can abut against the blocking mechanism, thereby blocking the first blade from rotating in the first direction.

12. The method of claim 11, wherein, The method further comprises: in response to the propeller completing the one-time folding, controlling the propeller or the blocking mechanism to stop moving.

13. The method of claim 12, wherein, The response to the propeller completing the one-time folding, controlling the propeller or the blocking mechanism to stop moving, comprises: In response to the fact that the boss can no longer drive the second blade to rotate in the first direction to approach the first blade, controlling the propeller or the blocking mechanism to stop moving.

14. The method of claim 13, wherein, Based on the stall signal of the power device driving the rotation of the propeller, an instruction is generated to control the propeller or the blocking mechanism to stop moving.

15. The method of claim 13, wherein, Based on the sensor detecting that the boss can no longer drive the second blade to rotate in the first direction to approach the first blade, the propeller or the blocking mechanism is controlled to stop moving.

16. The method of claim 12, wherein, The abutment of the second blade against the blocking mechanism comprises: the abutment of the second blade against the blocking mechanism that stops moving.

17. The method of claim 11, wherein, The control of at least one of the propeller or the blocking mechanism to move comprises at least one of: The propeller is applied to a movable platform, and the fuselage of the movable platform is controlled to move towards the blocking mechanism to drive the propeller to move; The propeller is controlled to move relative to the fuselage and towards the blocking mechanism, wherein the fuselage does not move; The blocking mechanism is controlled to move towards the propeller.

18. The method of any one of claims 1-17, wherein, The blocking mechanism comprises a first blocking portion and a second blocking portion, the first blade abuts against the first blocking portion when the propeller rotates in the first direction, and the second blade abuts against the second blocking portion when the propeller rotates in the second direction.

19. The method of claim 18, wherein, The blocking mechanism comprises a blocking piece of integral structure, the first blocking portion and the second blocking portion are two adjacent sides of the blocking piece; or the blocking mechanism comprises a first blocking piece and a second blocking piece, the first blocking piece is provided with the first blocking portion, and the second blocking piece is provided with the second blocking portion.

20. The method of any one of claims 1-19, wherein, The control of the propeller to rotate in the first direction, during the rotation of the propeller in the first direction, the first blade can abut against the blocking mechanism, and the boss can drive the second blade to rotate in the first direction to approach the first blade, to implement one-time folding of the propeller, comprises: Controlling the propeller to rotate in the first direction so that the first blade abuts against the blocking mechanism; and Controlling the propeller to continue to rotate in the first direction so that the boss drives the second blade to rotate to approach the first blade.

21. The method of any one of claims 1-19, wherein, controlling the propeller to rotate in a second direction opposite to the first direction, during the rotation of the propeller in the second direction, the second blade is capable of abutting against the blocking mechanism, the hub is capable of driving the first blade to rotate in the second direction to approach the second blade, to realize the second folding of the propeller, comprising: controlling the propeller to rotate in a second direction opposite to the first direction, during the rotation of the propeller in the second direction, the second blade is capable of abutting against the blocking mechanism, the hub is capable of driving the first blade to rotate in the second direction to approach the second blade, to realize the second folding of the propeller, comprising: controlling the propeller to rotate in a second direction opposite to the first direction, during the rotation of the propeller in the second direction, the second blade is capable of abutting against the blocking mechanism, the hub is capable of driving the first blade to rotate in the second direction to approach the second blade, to realize the second folding of the propeller, comprising: controlling the propeller to rotate in a second direction opposite to the first direction, during the rotation of the propeller in the second direction, the second blade is capable of abutting against the blocking mechanism, the hub is capable of driving the first blade to rotate in the second direction to approach the second blade, to realize the second folding of the propeller, comprising:

22. The method of any one of claims 1-19, wherein, the hub is capable of driving the second blade to rotate in the first direction to approach the first blade, to realize the first folding of the propeller, comprising: the hub is capable of driving the second blade to rotate in the first direction to approach the first blade, until the hub can no longer continue to drive the second blade to rotate in the first direction, to complete the first folding of the propeller.

23. The method of any one of claims 1-19, wherein, the hub is capable of driving the first blade to rotate in the second direction to approach the second blade, to realize the second folding of the propeller, comprising: the hub is capable of driving the first blade to rotate in the second direction to approach the second blade, until the propeller can no longer continue to rotate in the second direction, to complete the second folding of the propeller.

24. The method of any one of claims 1-19, wherein, the first blade abuts against the blocking mechanism, comprising that the non-blade tip end of the first blade is in contact with the blocking mechanism.

25. The method of any one of claims 1-19, wherein, the blade tip part of the first blade and / or the second blade is provided in a sharp angle or a round angle.

26. The method of any one of claims 1-19, wherein, the side of the blocking mechanism in contact with the first blade is provided with a flexible member.

27. The method of any one of claims 1-19, wherein, The method further comprises: when the propeller is in a working state, controlling the propeller to rotate at a first speed; in response to folding the propeller, controlling the propeller to rotate at a second speed, wherein the second speed is less than the first speed.

28. The method of any one of claims 1-19, wherein, The propeller is applied to a movable platform, and the blocking mechanism is arranged on a fuselage of the movable platform or outside the movable platform.

29. The method of any one of claims 1-19, wherein, The propeller folding method is applied to a movable platform.

30. A method of reefing, characterized by The method comprises: controlling the propeller to rotate in a first direction, the propeller comprising a hub, a first blade rotatably connected to the hub, and a second blade rotatably connected to the hub; limiting the rotation of the first blade in the first direction, so that the hub can drive the second blade to continue to rotate in the first direction to approach the first blade, to realize the first folding of the propeller; controlling the propeller to rotate in a second direction opposite to the first direction; and limiting the rotation of the second blade in the second direction, so that the hub can drive the first blade to continue to rotate in the second direction to approach the second blade, to realize the second folding of the propeller.

31. A control method of a movable platform system, characterized by, The movable platform system comprises a movable platform and a parking platform for parking the movable platform, and the control method comprises: controlling the propeller to rotate along a first direction, the propeller comprising a propeller base, a first propeller blade rotatably connected with the propeller base, and a second propeller blade rotatably connected with the propeller base; wherein during the rotation of the propeller along the first direction, the first propeller blade is capable of abutting against a blocking mechanism of the parking platform, and the propeller base is capable of driving the second propeller blade to rotate along the first direction to approach the first propeller blade, thereby achieving a first folding of the propeller; and controlling the propeller to rotate along a second direction opposite to the first direction, during the rotation of the propeller along the second direction, the second propeller blade is capable of abutting against the blocking mechanism, and the propeller base is capable of driving the first propeller blade to rotate along the second direction to approach the second propeller blade, thereby achieving a second folding of the propeller. The method further comprises: in response to the propeller completing the second folding, controlling the propeller to rotate along the first direction to a preset range.

32. The method of claim 31, wherein, The response to the propeller completing the second folding, controlling the propeller to rotate along the first direction to a preset range, comprises:

33. The method of claim 32, wherein, in response to the propeller completing the second folding, the propeller base being unable to continue to rotate along the second direction to drive the first propeller blade to rotate along the second direction to approach the second propeller blade, controlling the propeller to rotate along the first direction to a preset range. generating an instruction of controlling the propeller to rotate along the first direction to a preset range based on a stall signal of a power device driving the rotation of the propeller.

34. The method of claim 33, wherein, The stall signal at least comprises one of the following: a current of the power device being greater than or equal to a current threshold, an output torque of the power device being greater than or equal to a torque threshold, a temperature of the power device being greater than or equal to a temperature threshold, and a rotation speed of the power device being less than or equal to a rotation speed threshold.

35. The method of claim 34, wherein, controlling the propeller to rotate along the first direction to a preset range based on a sensor of the movable platform or the parking platform detecting that the propeller completes the second folding.

36. The method of claim 32, wherein, The control of the propeller rotating along the first direction to a preset range comprises: controlling the propeller to rotate along the first direction by a preset angle to enter the preset range.

37. The method of claim 32, wherein, The movable platform comprises a plurality of propellers, and the control method further comprises: determining the preset range based on the centers of the plurality of propellers.

38. The method of claim 32, wherein, The preset range is determined based on a space enclosed by the centers of the plurality of propellers.

39. The method of claim 38, wherein, The movable platform comprises a robot arm, and the propeller is arranged on the robot arm; the step of controlling the propeller to rotate along the first direction to a preset range comprises:

40. The method of claim 32, wherein, controlling the propeller to rotate along the first direction until the propeller and the robot arm at least partially coincide in a direction parallel to a yaw axis of the movable platform. ​ 41. The method of any one of claims 31-40, wherein, The blocking mechanism is located outside the rotation range of the propeller before the propeller starts the first folding; the control method further comprises: during the implementation of the first folding, controlling at least one of the movable platform or the blocking mechanism to move, so that the first blade can be in contact with the blocking mechanism, thereby blocking the first blade from rotating in the first direction.

42. The method of claim 41, wherein, The method further comprises: in response to the propeller completing the first folding, controlling the movable platform or the blocking mechanism to stop moving.

43. The method of claim 42, wherein, The response to the propeller completing the first folding, controlling the movable platform or the blocking mechanism to stop moving, comprises: In response to the fact that the propeller base can no longer drive the second blade to rotate in the first direction to approach the first blade, Controlling the movable platform or the blocking mechanism to stop moving.

44. The method of claim 43, wherein, Based on the stall signal of the power device driving the rotation of the propeller, an instruction is generated to control the stop of the movement of the parking platform or the movable platform.

45. The method of claim 42, wherein, The second blade in contact with the blocking mechanism comprises: the second blade in contact with the blocking mechanism comprises: the second blade in contact with the blocking mechanism that stops moving.

46. The method of claim 41, wherein, The control of at least one of the movable platform or the blocking mechanism of the parking platform to move so that the first blade is in contact with the blocking mechanism, thereby blocking the first blade from continuing to rotate in the first direction; comprises: Controlling the blocking mechanism to move towards the movable platform so that the blocking mechanism is in contact with the first blade, thereby blocking the first blade from continuing to rotate in the first direction.

47. The method of claim 46, wherein, The blocking mechanism comprises an actuator of the parking platform, which is configured to move between a first position and a second position when performing a preset function, and the actuator is in contact with the first blade during the movement of the actuator from the first position to the second position.

48. The method of claim 47, wherein, The control method further comprises: in response to the propeller completing the first folding, controlling the actuator to stop moving; in response to the propeller completing the second folding, controlling the propeller to rotate in the first direction to a preset range; and In response to the propeller entering the preset range, controlling the actuator to resume movement.

49. The method of claim 47, wherein, The actuator comprises a hatch for covering the parking platform, when the hatch is in a first position, the parking platform is in an open state; when the hatch is in a second position, the parking platform is in a closed state; The step of controlling the blocking mechanism to move towards the movable platform comprises: Controlling the hatch to move from the first position to the second position, during which the hatch is in contact with the first blade.

50. The method of claim 49, wherein, Further comprising: In response to the propeller completing the first folding, controlling the hatch to stop moving; in response to the propeller completing the second folding, controlling the propeller to rotate in the first direction to a preset range; and In response to the propeller entering the preset range, the hatch cover is controlled to resume movement, thereby closing the parking platform.

51. The method of claim 49, wherein, In response to the movable platform just landing on the parking platform, the hatch cover is in an open state to leave a space for the movable platform to land, the first blade and / or the second blade extends out of the hatch cover, and then the hatch cover is controlled to perform a closing action to contact the first blade.

52. The method of claim 47, wherein, The preset functions include at least one of the following: a closing function, a battery replacement function, and a sensor cleaning function.

53. The method of claim 41, wherein, In response to the movable platform landing on the parking platform, the blocking mechanism is located outside the movable platform as a whole to leave a space for the movable platform to land; and in response to the movable platform landing on the parking platform, the blocking mechanism is moved to contact the first blade.

54. The method of claim 41, wherein, The control of the movement of at least one of the blocking mechanism of the movable platform or the parking platform to make the first blade abut against the blocking mechanism includes: The control of the movement of at least one of the blocking mechanism of the movable platform or the parking platform to make the non-blade tip end of the first blade contact the blocking mechanism.

55. The method of claim 31, wherein, The blocking mechanism includes a first blocking portion and a second blocking portion, the first blade abuts against the first blocking portion when the propeller rotates in the first direction, and the second blade abuts against the second blocking portion when the propeller rotates in the second direction.

56. The method of claim 55, wherein, The blocking mechanism includes a blocking piece in an integral structure, the first blocking portion and the second blocking portion are two adjacent sides of the blocking piece; or the blocking mechanism includes a first blocking piece and a second blocking piece, the first blocking piece is provided with the first blocking portion, and the second blocking piece is provided with the second blocking portion.

57. The method of claim 55, wherein, The blocking mechanism includes a hatch cover, the hatch cover includes edge plates on two sides and a connecting plate for connecting the edge plates; wherein the abutment of the blocking mechanism against the first blade includes that the first blade abuts against an outer end of the edge plate of the hatch cover in an incomplete closing state, and the first blocking portion includes the outer end; and the abutment of the blocking mechanism against the second blade includes that the second blade abuts against an inner side wall of the edge plate, and the second blocking portion includes the inner side wall.

58. The method of claim 57, wherein, The abutment of the first blade against the outer end of the edge plate includes that a non-blade tip end of the first blade abuts against the outer end of the edge plate.

59. The method of claim 57, wherein, The connecting plate includes a top plate and a side plate connected to the top plate, the top plate is used to form a top when the hatch cover is closed, the side plate is used to form a first side when the hatch cover is closed, the edge plate is used to form a second side when the hatch cover is closed, and the first side and the second side are adjacent; wherein during the execution of the first folding and / or the second folding of the propeller, there is a gap between the first blade, the second blade and the side plate.

60. The method of any one of claims 31-59, wherein, The control controls the propeller of the movable platform of the parking platform to rotate along a first direction, during the rotation of the propeller along the first direction, the first blade can abut against the blocking mechanism of the parking platform, the blade seat can drive the second blade to rotate along the first direction to approach the first blade, to realize the first folding of the propeller, comprising: The control controls the propeller to rotate along a first direction, so that the first blade abuts against the blocking mechanism; and The control controls the propeller to continue rotating along the first direction, so that the blade seat drives the second blade to rotate to approach the first blade.

61. The method of any one of claims 31-59, wherein, The control controls the propeller to rotate along a second direction opposite to the first direction, during the rotation of the propeller along the second direction, the second blade can abut against the blocking mechanism, the blade seat can drive the first blade to rotate along the second direction to approach the second blade, to realize the second folding of the propeller, comprising: The control controls the propeller to rotate along a second direction, wherein the blade seat drives the first blade and the second blade to rotate as a whole, so that the second blade abuts against the blocking mechanism; and The control controls the propeller to continue rotating along the second direction, so that the blade seat drives the first blade to rotate to approach the second blade.

62. The method of any one of claims 31-59, wherein, The blade seat can drive the second blade to rotate along the first direction to approach the first blade, to realize the first folding of the propeller, comprising: The blade seat can drive the second blade to rotate along the first direction to approach the first blade, until the blade seat can no longer continue to drive the second blade to rotate along the first direction, to complete the first folding of the propeller.

63. The method of any one of claims 31-59, wherein, The control controls the propeller to continue rotating along the second direction, so that the blade seat can drive the first blade to rotate along the second direction to approach the second blade, to realize the second folding of the propeller, comprising: The control controls the propeller to continue rotating along the second direction, so that the blade seat can drive the first blade to rotate along the second direction to approach the second blade, until the propeller can no longer continue to rotate along the second direction, to complete the second folding of the propeller.

64. The method of any one of claims 31-59, wherein, The blade tip of the first blade and / or the second blade is provided with an acute angle or a rounded angle.

65. The method of any one of claims 31-59, wherein, The side of the blocking mechanism in contact with the first blade is provided with a flexible member.

66. The method of any one of claims 31-59, wherein, The method further comprises: before the movable platform lands on the parking platform, controlling the propeller to rotate at a first speed; In response to the landing of the movable platform on the parking platform, controlling the propeller to rotate at a second speed, wherein the second speed is less than the first speed.

67. The method of any one of claims 31-59, wherein, The movable platform comprises an aircraft.

68. A method of controlling a parking platform, characterized by The control method comprises: The control controls the blocking mechanism of the parking platform to abut against the first blade of the propeller of the movable platform, so that the propeller drives the second blade of the propeller to approach the first blade when rotating along a first direction, to realize the first folding of the propeller; and The control controls the blocking mechanism of the parking platform to abut against the first blade of the propeller of the movable platform, so that the propeller drives the second blade of the propeller to approach the first blade when rotating along a first direction, to realize the first folding of the propeller; and The blocking mechanism is controlled to abut against the second blade, so that the propeller drives the first blade to move close to the second blade when rotating in a second direction opposite to the first direction, to achieve re-folding of the propeller.

69. The method of claim 68, wherein, Before the propeller starts the first folding, the blocking mechanism is located outside the rotation range of the propeller; the control method further comprises: during the process of achieving the first folding, the blocking mechanism is controlled to move, so that the first blade can abut against the blocking mechanism, thereby blocking the first blade from rotating in the first direction.

70. The method of claim 69, wherein, The method further comprises: in response to the propeller completing the first folding, the blocking mechanism is controlled to stop moving.

71. The method of claim 70, wherein, The control of the blocking mechanism to stop moving in response to the propeller completing the first folding comprises: In response to the fact that the blade seat can no longer drive the second blade to rotate in the first direction to move close to the first blade, the blocking mechanism is controlled to stop moving, wherein the propeller comprises the blade seat, a first blade rotatably connected to the blade seat, and a second blade rotatably connected to the blade seat.

72. The method of claim 71, wherein, Based on a stall signal of a power device driving the propeller to rotate, an instruction to control the parking platform to stop moving is generated.

73. The method of claim 70, wherein, The blocking mechanism abuts against the second blade, comprising: the second blade abuts against the blocking mechanism that stops moving.

74. The method of claim 69, wherein, The control of the blocking mechanism to move so that the first blade abuts against the blocking mechanism, thereby blocking the first blade from continuing to rotate in the first direction, comprises: The blocking mechanism is controlled to move towards the movable platform, so that the blocking mechanism abuts against the first blade, thereby blocking the first blade from continuing to rotate in the first direction.

75. The method of claim 74, wherein, The blocking mechanism comprises an executing member of the parking platform, which is configured to move between a first position and a second position when performing a preset function, and abuts against the first blade during the movement of the executing member from the first position to the second position.

76. The method of claim 75, wherein, The control method further comprises: in response to the propeller completing the first folding, the executing member is controlled to stop moving; in response to the propeller completing the re-folding, the propeller is controlled to rotate in the first direction to a preset range; and In response to the propeller entering the preset range, the executing member is controlled to resume movement.

77. The method of claim 75, wherein, The executing member comprises a hatch cover for covering the parking platform, when the hatch cover is in a first position, the parking platform is in an open state; when the hatch cover is in a second position, the parking platform is in a closed state; The step of controlling the blocking mechanism to move towards the movable platform comprises: The hatch cover is controlled to move from the first position to the second position, and the hatch cover contacts the first blade during the movement of the hatch cover from the first position to the second position.

78. The method of claim 77, wherein, Further comprising: in response to the propeller completing the first retracting, controlling the hatch to stop moving; in response to the propeller completing the second retracting, controlling the propeller to rotate to a preset range along the first direction; and in response to the propeller entering the preset range, controlling the hatch to resume moving, so as to close the parking platform.

79. The method of claim 77, wherein, in response to the movable platform just landing on the parking platform, the hatch is in an open state to leave a space for the movable platform to land, the first blade and / or the second blade extends out of the hatch, and then the hatch is controlled to perform a closing action to contact the first blade.

80. The method of claim 75, wherein, The preset function includes at least one of the following: a closing function, a battery replacement function, and a sensor cleaning function.

81. The method of claim 69, wherein, in response to the movable platform landing on the parking platform, the blocking mechanism is located outside the movable platform as a whole to leave a space for the movable platform to land; and in response to the movable platform landing on the parking platform, the blocking mechanism moves to contact the first blade.

82. The method of claim 69, wherein, The control of the movement of the blocking mechanism to make the first blade abut against the blocking mechanism includes: controlling the blocking mechanism to move so that a non-blade tip end of the first blade contacts the blocking mechanism.

83. The method of any one of claims 68-82, wherein, The blocking mechanism includes a first blocking portion and a second blocking portion, the first blade abuts against the first blocking portion when the propeller rotates along the first direction, and the second blade abuts against the second blocking portion when the propeller rotates along the second direction.

84. The method of claim 83, wherein, The blocking mechanism includes a blocking piece in an integral structure, the first blocking portion and the second blocking portion are two adjacent sides of the blocking piece; or the blocking mechanism includes a first blocking piece and a second blocking piece, the first blocking piece is provided with the first blocking portion, and the second blocking piece is provided with the second blocking portion.

85. The method of claim 83, wherein, The blocking mechanism includes a hatch, the hatch includes edge plates on two sides and a connecting plate for connecting the edge plates; wherein the abutment of the blocking mechanism against the first blade includes that the first blade abuts against an outer end of the edge plate of the hatch in an incomplete closing state, and the first blocking portion includes the outer end; and the abutment of the blocking mechanism against the second blade includes that the second blade abuts against an inner side wall of the edge plate, and the second blocking portion includes the inner side wall.

86. The method of claim 85, wherein, The abutment of the first blade against the outer end of the edge plate includes that a non-blade tip end of the first blade abuts against the outer end of the edge plate.

87. The method of claim 85, wherein, The connecting plate includes a top plate and a side plate connected to the top plate, the top plate is used to form a top when the hatch is closed, the side plate is used to form a first side when the hatch is closed, the edge plate is used to form a second side when the hatch is closed, and the first side and the second side are adjacent; wherein during the execution of the first retracting and / or the second retracting of the propeller, there is a gap between the first blade, the second blade and the side plate.

88. The method of any one of claims 68-87, wherein, A side of the blocking mechanism in contact with the first blade is provided with a flexible piece.

89. The method of any one of claims 68-87, wherein, The movable platform includes an aircraft.

90. A movable platform, characterized by The movable platform comprises a propeller, the movable platform further comprises one or more processors and one or more memories storing computer program codes, configured to jointly act to cause the movable platform to perform the propeller retraction method according to any one of claims 1-30.

91. A moveable platform system, comprising: The movable platform system comprises a movable platform and a parking platform for parking the movable platform, the movable platform system comprises one or more processors and one or more memories storing computer program codes, configured to jointly act to cause the movable platform system to perform the control method of the movable platform system according to any one of claims 31-67.

92. A hangar platform characterized by, The parking platform is used for parking a movable platform, the parking platform comprises one or more processors and one or more memories storing computer program codes, configured to jointly act to cause the parking platform to perform the control method of the parking platform according to any one of claims 68-89.

93. A control device characterized by comprising: The control device comprises one or more processors and one or more memories storing computer program codes, configured to jointly act to cause the movable platform to perform the propeller retraction method according to any one of claims 1-30.

94. A control device characterized by comprising: The control device comprises one or more processors and one or more memories storing computer program codes, configured to jointly act to cause the parking platform and the movable platform in the movable platform system to perform the control method of the movable platform system according to any one of claims 31-67.

95. A control device characterized by comprising: The control device comprises one or more processors and one or more memories storing computer program codes, configured to jointly act to cause the parking platform to perform the control method of the parking platform according to any one of claims 68-89.

96. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, the computer program is executed by a processor to cause the processor to implement the method according to any one of claims 1-89.

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