CN106155080B

CN106155080B - Unmanned plane

Info

Publication number: CN106155080B
Application number: CN201610310519.9A
Authority: CN
Inventors: 张景嵩; 曾世钦; 戴志宏
Original assignee: Inventec Appliances Shanghai Corp
Current assignee: Inventec Appliances Shanghai Corp
Priority date: 2015-07-28
Filing date: 2016-05-11
Publication date: 2020-04-10
Anticipated expiration: 2036-05-11
Also published as: CN106155080A; CN106143870B; CN106143870A

Abstract

An unmanned aerial vehicle comprises a carrier body and at least one arm assembly. The arm assembly is coupled with the carrier body. The arm assembly comprises a first rotating piece, a second rotating piece and a propeller. The second rotating member is coupled to the first rotating member. The propeller comprises a frame and a rotating shaft. The frame surrounds the outer edge of the propeller. The rotating shaft is coupled to the second rotating member. The rotary shaft extends along a rotation axis. The second rotating member is configured to rotate the propeller by rotating the rotating shaft about the rotation axis. The first rotating member is configured to rotate and influence the movement of the second rotating member, so that the rotating shaft can be selectively adjusted to enable the rotating axis to be at least aligned with the first axis direction and the second axis direction.

Description

Unmanned plane

Technical Field

The invention relates to an unmanned aerial vehicle.

Background

In recent years, Unmanned Aerial Vehicles (UAVs) have been widely used in various fields such as aerial photography, reconnaissance, scientific research, geological survey, and remote sensing. Generally, unmanned aerial vehicles have built-in various electronic components for controlling the operation of the unmanned aerial vehicle in various aspects. Also, unmanned aerial vehicles are sometimes equipped with one or more sensors for navigation, reconnaissance, remote sensing, etc.

However, conventional unmanned aerial vehicles are aerial vehicles and can only move in the air. When the weather is not good or an obstacle exists in the air path, the traditional unmanned aerial vehicle cannot work normally. That is, conventional unmanned aerial vehicles cannot cope with various weather conditions or complicated routes.

Disclosure of Invention

According to an embodiment of the present invention, an unmanned aerial vehicle is provided. The unmanned aerial vehicle comprises a vehicle body and at least one arm assembly. The arm assembly is coupled with the carrier body. The arm assembly includes a first rotating member, a second rotating member, and a propeller. The second rotating member is coupled to the first rotating member. The propeller includes a frame. The frame surrounds the outer edge of the propeller. The propeller further includes a rotating shaft coupled to the second rotating member. The rotary shaft extends along a rotation axis. The second rotating member is configured to drive the propeller by rotating the rotating shaft about the rotating axis. The first rotating member is configured to rotate and influence the movement of the second rotating member, so that the rotating shaft can be selectively adjusted to enable the rotating axis to be at least aligned with the first axis direction or the second axis direction.

According to another embodiment of the present invention, there is provided a drone. The unmanned aerial vehicle comprises a vehicle body and at least one arm assembly. The arm assembly includes arms, a rotor, and a frame. The arm is rotatably coupled with the carrier body. The propeller rotating piece is arranged on the surface of the arm. The propeller is coupled to the propeller rotating member. The propeller has a rotation axis. The rotation axis extends along a rotation axis perpendicular to the surface of the arm. The frame is coupled to an outer edge of the propeller. The propeller rotating member is configured to rotate the propeller by rotating the rotary shaft about the rotation axis. The arm is configured to rotate relative to the carrier body, so that the rotation axis can be selectively adjusted to at least align with the first axis direction or the second axis direction.

According to another embodiment of the present invention, a control method is provided for controlling an unmanned aerial vehicle. The unmanned aerial vehicle comprises a vehicle body and at least one arm assembly. The arm assembly has a propeller. The propeller comprises a propeller frame and a rotating shaft. The propeller frame surrounds the propeller. The rotary shaft extends along a rotation axis. The control method comprises at least one of the following steps: adjusting the rotation axis to align the rotation axis with a first axial direction substantially perpendicular to the top surface of the vehicle body for configuring the drone as an aerial vehicle flyable by the thrust of the propeller; and adjusting the rotation axis to align the rotation axis with a second axial direction substantially orthogonal to the first axial direction to configure the drone as a land vehicle contactable to ground land through the propeller rim.

The foregoing is merely illustrative of the problems, solutions to problems, and alternatives that may be apparent from the disclosure as described in more detail in the following detailed description and associated drawings.

Drawings

Fig. 1A is an exploded view of an unmanned aerial vehicle according to an embodiment of the present invention.

Fig. 1B is a perspective view of the drone in fig. 1A, with the axis of rotation of the propeller parallel to the first axial direction.

Fig. 1C is a perspective view of the drone in fig. 1A, with the axis of rotation of the propeller parallel to the direction of the second axis.

Fig. 1D is a perspective view of the drone of fig. 1C, with the axis of rotation of the propeller offset from the second axial direction.

Fig. 2 is a perspective view of an unmanned aerial vehicle according to an embodiment of the present invention.

Fig. 3A is a partial cross-sectional view of the drone of fig. 2 along line 3A-3A, wherein the angle between the plane of rotation and each movable fan blade is not zero.

Fig. 3B is another partial cross-sectional view of the drone of fig. 2 along line 3A-3A, wherein the angle between the plane of rotation and each movable fan blade is zero.

Fig. 4 is a perspective view of the drone of fig. 1B in accordance with one embodiment of the present invention.

Fig. 5 is a perspective view of the drone of fig. 1B in accordance with one embodiment of the present invention.

Fig. 6 is a block diagram of components of a drone according to an embodiment of the present invention.

Fig. 7A is a perspective view of a drone according to an embodiment of the present invention, wherein the rotation axis of the propeller is parallel to the first axial direction.

Fig. 7B is a perspective view of the drone in fig. 7A, with the axis of rotation of the propeller parallel to the direction of the second axis.

Fig. 7C is a side view of the drone of fig. 7A.

Fig. 8 is a flowchart of a control method for controlling an unmanned aerial vehicle according to an embodiment of the present invention.

Fig. 9 is a flowchart of a control method for controlling an unmanned aerial vehicle according to another embodiment of the present invention.

Fig. 10 is a flowchart of a method for controlling a drone according to an embodiment of the present invention, for wirelessly receiving a control command to control the drone.

Fig. 11 is a flowchart of a method for controlling a drone, according to an embodiment of the present invention, for generating and using a navigation route to control the drone.

Description of the symbols

1. 1', 2: unmanned plane

10. 20: carrier body

10 a: main module

10 b: connecting piece

100: the top surface

12: arm assembly

120. 220, and (2) a step of: arm

121: first rotating member

122: second rotating member

123. 123', 223: propeller

123a, 223 a: propeller frame

123b, 223 b: rotating shaft

123 c: angle adjusting piece

123 d: movable fan blade

124: shoulder joint

14: protective cover

160: controller

161: power unit

162: wireless communication module

163: position locating module

164: camera with a lens having a plurality of lenses

165: mini printed circuit board

166: processor module

200: bottom surface

220 a: long curved surface

222: propeller rotor

23: foot stool

θ: angle of rotation

A1: direction of the first axis

A2: direction of the second axis

P: plane of rotation

R: axis of rotation

Detailed Description

The invention is described in further detail below with reference to the figures and specific examples. Advantages and features of the present invention will become apparent from the following description and from the claims. It is to be noted that the drawings are in a very simplified form and are all used in a non-precise ratio for the purpose of facilitating and distinctly aiding in the description of the embodiments of the invention.

Please refer to fig. 1A to fig. 1D. Fig. 1A is an exploded view showing an unmanned aerial vehicle 1 according to an embodiment of the present invention. Fig. 1B is a perspective view illustrating the drone 1 in fig. 1A, wherein the rotation axis 123B of the propeller 123 is parallel to the first axial direction a 1. Fig. 1C is a perspective view illustrating the drone 1 in fig. 1A, wherein the rotation axis 123b of the propeller 123 is parallel to the second axial direction a 2. Fig. 1D is a perspective view illustrating the drone 1 in fig. 1C, wherein the rotation axis 123b of the propeller 123 is offset from the second axial direction a 2. The drone 1 comprises a vehicle body 10 and an arm assembly 12. The carrier body 10 includes a main module 10a and a connecting member 10 b. The connection members 10b are detachably connected to opposite sides of the main module 10a, respectively. Each arm assembly 12 comprises a arm 120, a first rotating member 121, a second rotating member 122 and a propeller 123. The arms 120 are coupled to the corresponding links 10b and are configured to move about the shoulder joints 124. The first rotating member 121 is coupled to an end of the arm 120 away from the shoulder joint 124. The second rotating member 122 is coupled to the adjacent first rotating member 121. The propeller 123 includes a propeller frame 123a and a rotation shaft 123 b. A propeller rim 123a surrounds the outer edge of the propeller 123. The rotation shaft 123b is coupled to the adjacent second rotating member 122. The rotation shaft 123b extends along the rotation axis R. The second rotating member 122 is configured to carry the propeller 123 by rotating the rotating shaft 123b about the rotation axis R. The first rotating member 121 is configured to rotate and affect the movement of the second rotating member 122, so as to selectively adjust the rotating shaft 123B to make the rotating axis R at least align with the first axial direction a1 (as shown in fig. 1B) or the second axial direction a2 (as shown in fig. 1C). Each propeller frame 123a is disposed at an outer edge of the corresponding propeller 123.

The arm assembly 12 also includes a shoulder joint 124. The shoulder joint 124 connects the arm 120 to the link 10b of the vehicle body 10. The arm 120 of the arm assembly 12 is configured to rotate about the shoulder joint 124 and relative to the vehicle body 10. Accordingly, the distance between any two propellers 123 can be adjusted to avoid structural interference of the propellers 123 when in operation.

As shown in fig. 1B-1D, the main module 10a has a top surface 100. The first axial direction a1 is substantially perpendicular to the top surface 100, and the second axial direction a2 is substantially orthogonal to the first axial direction a 1. In one embodiment, the first axial direction a1 is substantially vertical and the second axial direction a2 is substantially horizontal. When the rotation axis 123b of the propeller 123 is adjusted to substantially align the rotation axis R with the first axial direction a1, the propulsive force provided by the propeller 123 may cause the drone 1 to hover, move up, or move down to allow the drone 1 to be configured as a flyable aerial vehicle. When the rotation axis 123b of the propeller 123 is adjusted to substantially align the rotation axis R with the second axial direction a2, the propeller 123 with the propeller rim 123a may provide a function of wheels to configure the drone 1 as a land vehicle that can land and move the drone 1 on land by contacting the ground with the propeller rim 123 a.

As shown in fig. 1A to 1D, the unmanned aerial vehicle 1 has two connecting members 10b and four arm assemblies 12, and each connecting member 10b connects two arm assemblies 12. However, the invention is not limited thereto. For example, it is contemplated that the drone 1 may include one or more connectors 10b, and each connector 10b connects one or more arm assemblies 12.

In one embodiment, each of the second rotating members 122 is a power motor, which can drive the propeller 123 to provide a propelling force by rotating the rotating shaft 123b around the rotating axis R.

As shown in the embodiments of fig. 1B and fig. 6, the drone 1 further includes a controller 160 and a power unit 161 (shown by a dashed line in fig. 1B). The controller 160 is disposed on the main module 10a and configured to control the movement of the first rotating member 121 and the movement of the second rotating member 122. The power unit 161 is disposed on the main module 10a and configured to supply power to move the first rotating element 121 and the second rotating element 122. Alternatively, the power unit 161 may be provided on the connector 10b to reduce the weight of the main module 10a or improve the weight distribution of the entire drone 1.

In some embodiments, the controller 160 is disposed on the vehicle body 10 (e.g., on the main module 10a or the connecting member 10 b), and the power unit 161 is disposed on the arm assembly 12. In some embodiments, the power unit 161 is disposed on the vehicle body 10 (e.g., on the main module 10a or the connecting member 10 b), and the controller 160 is disposed on the arm assembly 12. In some embodiments, the controller 160 and the power unit 161 are both disposed on the arm assembly 12.

In some embodiments, the controller 160 is further configured to individually control the first rotating member 121 of each arm assembly 12 for individually adjusting each rotating shaft 123b to align with one of a plurality of axial directions. For example, the controller 160 may adjust the rotation axes 123b of the two propellers 123 such that the rotation axes R thereof are aligned with the first axial direction a1, and adjust the rotation axes 123b of the other propellers 123 such that the rotation axes R thereof are aligned with the second axial direction a 2. The controller 160 is configured to control the first rotating member 121 to adjust the rotating shaft 123b of the propeller 123, so as to change the rotating axis R to a direction and an angle different from the first axis direction a1 and the second axis direction a 2. Other combinations of control and rotation of the shaft 123b of the propeller 123 are conceivable to provide different capabilities of the drone 1.

In some embodiments, the shoulder joint 124 provides for lateral movement of the arm 120 and the arm assembly 12. Specifically, the controller 160 is configured to individually control the rotation of each arm assembly 12 about the shoulder joint 124 to align the axis of rotation 123b with one of a plurality of axial directions. By rotating the arms 120 around the corresponding shoulder joints 124 to adjust the corresponding rotation axes 123b, the moving direction of the drone 1 may be changed, as shown in fig. 1C and 1D.

It will be appreciated that the extension and retraction of the arms 120 allows for control of various modes of operation and flexibility of the drone 1. By extending/retracting the arms 120 around the shoulder joints 124 to different configurations and combinations, the drone 1 may achieve improved maneuverability. Further, when navigating the drone 1 through a narrower space, the retraction of the arms 120 may transform the drone 1 into a small-sized vehicle that can fit through a small space. Furthermore, the retracted arms 120 allow the drone 1 to occupy less space when the drone 1 is not in use, to facilitate transport or warehousing.

In some embodiments, to control the movement of the drone 1, the controller 160 is configured to individually control the action of the second rotation member 122 of each arm assembly 12 to individually rotate each propeller 123 at a different rotational speed or in a different direction. Therefore, when the unmanned aerial vehicle 1 operates as an air vehicle or a land vehicle, the moving direction of the unmanned aerial vehicle 1 can be changed by adjusting the difference between the rotation speeds of the propellers 123. In this way, structural interference between the propellers 123 during any operation of the drone 1 may be anticipated, and the shoulder joint 124 may be omitted in some embodiments.

Please refer to fig. 2, fig. 3A and fig. 3B. Fig. 2 is a perspective view showing an unmanned aerial vehicle 1' according to an embodiment of the present invention. Fig. 3A is a partial cross-sectional view of the drone 1' of fig. 2 along line 3A-3A, wherein the angle between the plane of rotation P and each movable blade 123d is not zero. Fig. 3B is another partial cross-sectional view of the drone 1' of fig. 2 along the line 3A-3A, wherein the angle between the plane of rotation P and each movable fan blade 123d is zero. Each propeller 123' has a rotation plane P and includes a propeller frame 123a, a rotation axis 123b, an angle adjustment member 123c and a plurality of movable blades 123 d. The rotation shafts 123b are coupled to the corresponding second rotating members 122. The angle adjuster 123c is coupled to the rotation shaft 123 b. The movable blade 123d is coupled to the angle adjuster 123 c. The angle adjuster 123c is configured to adjust an angle θ between the rotation plane P and the movable blade 123 d. When the angle θ is not zero, the propeller 123 'may generate a propulsive force, so the drone 1' may be moved by the propulsive force and may operate as an aerial vehicle or a marine vehicle. When the angle θ is zero, the propeller 123' generates no propulsive force. Under this arrangement, the drone 1' may operate as a land vehicle, which may be moved by the propeller frame 123a rolling on the ground as the wheels roll. With this arrangement, since the angle θ is zero, there is no thrust in the lateral direction with respect to the rotation plane P, and therefore the stability of the land vehicle when traveling on the ground can be improved.

Other details regarding the drone 1' of fig. 2 are the same as the drone 1 of fig. 1B and therefore, for the sake of brevity, are not repeated here.

Please refer to fig. 4 and 5. Fig. 4 is a perspective view of the drone 1 of fig. 1B, according to an embodiment of the present invention. Fig. 5 is a perspective view of the drone 1 of fig. 1B, according to an embodiment of the present invention. The drone 1 also comprises a protective cover 14. The protective cover 14 extends from the propeller frame 123a and surrounds the entire propeller 123 (shown in fig. 5). Alternatively, for example, in a lighter weight version of the drone, the protective cover 14 may surround only a portion of the propeller 123 (as shown in fig. 4). During rotation of the propeller 123, the protective cover 14 may protect the propeller 123 from damage by objects that may cause damage. The embodiments of fig. 4 and 5 show the protective cover 14 as a mesh structure. Alternative forms include meshes with larger or smaller holes (mesh), and holes of different shapes (e.g., diamond, rectangular, circular, oval, and polyhedral). Also, while each boot 14 is depicted as spherical, other design shapes are contemplated, such as having an irregular, non-uniform, edged or jagged surface. Preferably, each protective cover 14 has an aerodynamic shape and form to reduce air resistance when the drone 1 is moving in the air. Further, each of the protective covers 14 preferably has a suitable aperture and shape for allowing airflow therethrough so as not to reduce the thrust and efficiency of the propeller 123. Thus, different embodiments of the design described above in connection with the protective cover 14 are contemplated herein.

In some embodiments, the protective cover 14 is removably attached to the propeller frame 123 a. In some embodiments, the protective cover 14 is integrally formed with the propeller frame 123 a. In some embodiments, the protective cover 14 is coupled to the arm assembly 12 without being connected to the propeller frame 123 a. Specifically, the protective cover 14 is coupled to the first rotating member 121 of the arm assembly 12, as shown in FIG. 4.

Fig. 6 is a block diagram showing components of the unmanned aerial vehicle 1 according to an embodiment of the present invention. The drone 1 also includes a wireless communication module 162, a position location module 163 (e.g., global positioning system), a camera 164, a mini printed circuit board 165, and a processor module 166. Although depicted as separate units, the mini-pcb 165 and the controller 160 may be the same unit. The wireless communication module 162 is disposed on the main module 10a and electrically connected to the controller 160. The wireless communication module 162 is configured to receive control commands for operating the controller 160. The position-location module 163 is disposed on the main module 10a and electrically connected to the processor module 166. The position-location module 163 is configured to generate position data. The processor module 166 is configured to generate a navigation route based on the position data and to generate navigation instructions based on the navigation route, the navigation instructions being for controlling the controller 160 to affect movement of the drone 1. The camera 164 is disposed on the main module 10a, and may be disposed on the connecting member 10 b. The camera 164 is configured to generate image data. The mini pcb 165 is disposed on the main module 10 a. The mini-pcb 165 is configured to process image data. The wireless communication module 162 is also configured to transmit the processed image data to a remote device.

Based on the data received by the camera 164, the wireless communication module 162, or the position location module 163, the drone 1 may control the arm assembly 12 and/or the power unit 161 powering the arm assembly 12 for configuring/reconfiguring the drone 1 as an aerial or terrestrial vehicle. The drone 1 then powers/controls its operation or movement according to this configuration. For example, the drone 1, in the case of an airborne vehicle configured to propel in the air, may land to the road surface, which may be detected by the position location module 163 and/or the camera 164 whether it has approached the road surface, upon arrival at the road surface, the processor module 166 may operate the arm assembly 12 via the controller 160 to reconfigure the drone 1 as a land vehicle moving on wheels, and continue to follow the planned path.

In another example, the position location module 163 may analyze the path through the terrain in a narrow space and may confirm through visual detection by the camera 164 that the arm assembly 12 is to be rotated about the shoulder joint 124 and retracted to reduce the size of the drone 1 when the narrow space is to be passed. In addition, the propulsion speed may be reduced to navigate the drone 1 through this narrow space more slowly or carefully.

Please refer to fig. 7A and fig. 7B. Fig. 7A is a perspective view showing the unmanned aerial vehicle 2 according to the embodiment of the present invention, wherein the rotating shaft 223b of the propeller 223 is parallel to the first axial direction a 1. Fig. 7B is a perspective view showing the drone 2 in fig. 7A, with the rotation axis 223B of the propeller 223 parallel to the second axial direction a 2. The drone 2 includes a wing 220, a propeller rotator 222, a propeller 223, and a propeller frame 223 a. The propeller frame 223a surrounds the circumference of the propeller 223. Arm 220 is rotatably coupled to vehicle body 20. Specifically, each arm 220 is a long cylinder and has a long curved surface 220 a. A portion of the long curved surface 220a is rotatably coupled to the carrier body 20. In more detail, the arm 220 is disposed in a cavity extending along the periphery of the vehicle body 20, such that a portion of the long curved surface 220a of the arm 220 is covered in the cavity. The propeller rotation member 222 is disposed at an exposed curved portion of the long curved surface 220a of the arm 220. The propeller 223 is coupled to the adjacent propeller rotating member 222, and has a rotating shaft 223b extending along the rotating axis R. The rotation shaft 223b is connected to the propeller rotation member 222 and extends perpendicularly from the exposed long curved surface 220 a. The screw rotator 222 is configured to bring the screw 223 by rotating the rotary shaft 223b about the rotation axis R. The arm 220 is configured to rotate relative to the vehicle body 20, so as to selectively adjust the rotation axis R to at least align with the first axis direction a1 or the second axis direction a 2. When the arm 220 rotates relative to the carrier body 20, a portion of the long curved surface 220a covered in the cavity becomes exposed, and another portion becomes covered in the cavity. That is, arm 220 can roll around the cavity of carrier body 20, and the cavity holds arm 220. Each propeller frame 223a is coupled to an outer edge of the corresponding propeller 223 and forms a wheel frame.

As with the previous embodiment, when the rotational axis 223b of the propeller 223 is adjusted to substantially align the rotational axis R with the first axial direction a1, the propulsive force provided by the propeller 223 may cause the drone 2 to hover, move up, or move down to allow the drone 2 to be configured as a flyable aerial vehicle. The propeller 223 with the propeller rim 223a may provide a function of a wheel to configure the drone 2 as a land vehicle that may land when the rotation axis 223b of the propeller 223 is adjusted to substantially align the rotation axis R with the second axial direction a 2.

In some embodiments, the drone 2 also includes the controller 160 of fig. 1B. The controller 160 is disposed in the vehicle body 20 and configured to control the arm 220 and the propeller rotator 222. Specifically, as described above, in some embodiments, the controller 160 is further configured to individually control the rotation of the arms 220 relative to the vehicle body 20, so as to selectively adjust the rotation axis R to at least align with the first axis direction a1 or the second axis direction a 2. Also, in some embodiments, to control the vehicle motion of the drone 2, the controller 160 is further configured to individually control the propeller rotors 222 to adjust the rotational speed of the propeller 223. Thus, when the unmanned aerial vehicle 2 operates as an air vehicle or a land vehicle, the moving direction of the unmanned aerial vehicle 2 can be changed by adjusting the difference between the rotation speeds of the propellers 223.

In some embodiments, the propeller 223 of the drone 2 may be replaced with the propeller 123' shown in fig. 2, 3A and 3B to improve stability of the land vehicle when walking on the ground, as described above.

As shown in fig. 7A and 7B, the drone 2 has two arm assemblies 22, and each arm assembly 22 has two adjoining propeller rotors 222. However, the invention is not limited thereto. For example, it is contemplated that the drone 2 may include more arm assemblies 22 disposed about the periphery of the vehicle body 20, with each arm assembly 22 abutting one or more propeller rotors 222. That is, although the carrier body 20 is rectangular, the carrier body 20 may be polygonal having three or more sides.

As shown in fig. 7A and 7B, the drone 2 further includes feet, such as a foot rest 23, coupled to the vehicle body 20. When the drone 2 lands in the configuration of an aerial vehicle, the foot rest 23 can support the vehicle body 20 and prevent the bottom surface 200 of the vehicle body 20 from directly contacting the ground. Fig. 7C is a side view of the drone 2 of fig. 7A. When the drone 2 is configured as a land vehicle, the height of the propeller frame 223a relative to the bottom surface 200 of the vehicle body 20 is greater than the height of the foot rest 23 relative to the bottom surface 200, so the foot rest 23 does not hinder the drone 2 from moving when walking with the propeller frame 223a as wheels.

In some embodiments, the drone 2 may also include a power unit 161 shown in fig. 1B, the protective cover 14 shown in fig. 4 and 5, and a wireless communication module 162, a position location module 163, a camera 164, a mini-printed circuit board 165, and a processor module 166 shown in fig. 6. The functions of these elements and the connection relationships between these elements are as described above, and therefore, are not described herein again for brevity.

Fig. 8 is a flowchart illustrating a control method for controlling an unmanned aerial vehicle according to an embodiment of the invention. The drone includes a carrier body and at least one arm assembly coupled to the carrier body. The arm assembly includes a rotating member and a propeller. The rotating member is configured to drive the propeller by rotating the rotating shaft about the rotating axis. The propeller comprises a propeller frame and a rotating shaft. The propeller frame surrounds the outer edge of the propeller. The rotating shaft of the propeller is coupled to the rotating member and extends along the rotating axis. The rotating member is configured to drive the propeller by rotating the rotating shaft about the rotating axis. The control method may first perform step S101, in which the rotating member is rotated to adjust the rotating shaft so as to align the rotating axis with a first axis direction substantially perpendicular to the top surface of the carrier body, so as to configure the unmanned aerial vehicle as an aerial carrier capable of flying by the propulsive force of the propeller. The control method then proceeds to step S102, where the rotator is rotated to adjust the rotation axis to align the rotation axis with a second axis direction substantially orthogonal to the first axis direction, for reconfiguring the drone as a land vehicle that can contact the ground through the propeller frame. It is contemplated that the control method may also be implemented by configuring the drone as a land vehicle as described in step S102, and then reconfiguring the drone as an aerial vehicle as described in step S101.

Fig. 9 is a flowchart illustrating a control method for controlling an unmanned aerial vehicle according to another embodiment of the invention. The drone includes a carrier body and at least one arm assembly coupled to the carrier body. The arm assembly includes arms and a propeller. The arm is rotatably connected to the vehicle body. The propeller comprises a propeller frame and a rotating shaft. The propeller frame surrounds the outer edge of the propeller. The rotation axis of the propeller extends along a rotation axis perpendicular to the surface of the arm. The control method may first perform step S201, in which the arm is rotated relative to the vehicle body to adjust the rotation axis so that the rotation axis is aligned with a first axis direction substantially perpendicular to the top surface of the vehicle body, so as to configure the unmanned aerial vehicle as an aerial vehicle capable of flying by the propulsive force of the propeller. The control method then proceeds to step S202, where the arms are rotated relative to the vehicle body to adjust the rotation axis to align the rotation axis with a second axis direction substantially orthogonal to the first axis direction, for reconfiguring the drone as a land vehicle that can contact the ground land through the propeller frame. As in the embodiment of fig. 8, the order of the steps of the control method may be reversed, i.e. the drone is configured as a land vehicle and then the drone is reconfigured as an air vehicle.

Fig. 10 is a flowchart illustrating a method for controlling an unmanned aerial vehicle according to an embodiment of the present invention, for wirelessly receiving a control command to control the unmanned aerial vehicle. In some embodiments, the drone further includes a controller and a wireless communication module in addition to the vehicle body and the arm assembly. To perform the above steps (i.e., the steps in fig. 8 or the steps in fig. 9), the control method may first perform step S301, in which a control command for operating the controller is received by the wireless communication module. The control method then proceeds to step S302, where the control command is executed by the controller to adjust the rotation axis and configure the drone as an aerial vehicle or a land vehicle.

Fig. 11 is a flowchart illustrating a method for controlling an unmanned aerial vehicle according to an embodiment of the invention, for generating and using a navigation route to control the unmanned aerial vehicle. In some embodiments, the drone further includes a position location module in addition to the vehicle body and the arm assembly. The control method may first perform step S401, wherein the position data is generated by a position location module. The control method then proceeds to step S402, wherein the navigation route is generated using at least the location data. The control method then proceeds to step S403, where the drone is configured as an aerial vehicle or a land vehicle according to the navigation route (e.g., by performing the steps in fig. 8 or the steps in fig. 9). The control method then proceeds to step S404, where the drone moves according to the navigation route.

As is apparent from the above detailed description of the embodiments of the present invention, the drone of the present invention may be an amphibious vehicle (e.g., movable in the air and on land). As shown in the drawings, the drone includes modular components/units. The modular design provides ease of transport, warehousing, and component replacement or renewal.

It will be apparent to those skilled in the art that various changes and modifications may be made in the invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims

1. An unmanned aerial vehicle comprising a vehicle body and at least one arm assembly coupled to the vehicle body, the arm assembly comprising:

the first rotating piece is a long cylinder and is arranged in a cavity extending along the periphery of the carrier body, so that a part of a long curved surface of the long cylinder is covered in the cavity;

the second rotating piece is coupled to the first rotating piece and arranged on an exposed curved surface of the long cylinder; and

a propeller including a frame surrounding an outer edge of the propeller, the propeller further including a rotation shaft coupled to the second rotation member, the rotation shaft extending perpendicularly from the exposed curved surface;

wherein the rotating shaft extends along a rotation axis, and the second rotating member is configured to drive the propeller by rotating the rotating shaft about the rotation axis; and

the first rotating member is configured to rotate and influence the movement of the second rotating member, so that the rotating shaft can be selectively adjusted to enable the rotating axis to be at least aligned with a first axial direction or a second axial direction.

2. The drone of claim 1, wherein the first axial direction is substantially perpendicular to a top surface of the vehicle body and the second axial direction is substantially orthogonal to the first axial direction.

3. The drone of claim 1, further comprising a controller and a plurality of the arm assemblies, the controller disposed in the vehicle body, wherein the controller is configured to individually control the second rotating members of the arm assemblies to adjust a rotational speed of each of the propellers.

4. A control method for controlling a drone, the drone comprising a vehicle body and at least one arm assembly, the arm assembly comprising an arm, a propeller rotor and a propeller, the arm being an elongated cylinder and having an elongated curved surface, a portion of the elongated curved surface being rotatably connected to the vehicle body, the arm being disposed in a cavity extending along a periphery of the vehicle body such that a portion of the elongated curved surface of the arm is housed in the cavity, the propeller rotor being disposed in an exposed curved surface of the elongated curved surface of the arm, the propeller comprising a propeller frame surrounding the propeller and a rotation axis connected to the propeller rotor and extending along an axis of rotation perpendicular to the exposed curved surface of the arm, the control method comprises the following steps:

adjusting the arm to rotate relative to the vehicle body to adjust the rotation axis to align the rotation axis with a first axial direction substantially perpendicular to a top surface of the vehicle body to configure the drone as an aerial vehicle flyable by the thrust of the propeller; and

adjusting the arm to rotate the arm relative to the vehicle to adjust the axis of rotation to align the axis of rotation with a second axis direction substantially orthogonal to the first axis direction to configure the drone as a land vehicle that can contact ground land through the propeller rim.

5. The method of claim 4, wherein the drone further includes a controller and a wireless communication module, the method further comprising:

receiving a control instruction through the wireless communication module, wherein the control instruction is used for operating the controller; and

executing, by the controller, the control instructions to adjust the rotation axis and configure the drone as an aerial vehicle or a land vehicle.

6. The control method of claim 4, wherein the drone further includes a position location module, the control method further comprising:

generating position data by using the position positioning module;

generating a navigation route at least using the location data;

configuring the drone as an aerial vehicle or an onshore vehicle according to the navigation route; and

and moving the unmanned aerial vehicle according to the navigation route.