CN112203936A

CN112203936A - Unmanned aerial vehicle and unmanned aerial vehicle's foot rest

Info

Publication number: CN112203936A
Application number: CN202080002857.0A
Authority: CN
Inventors: 左川露; 农贵升; 严绍军
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd; SZ DJI Innovations Technology Co Ltd
Priority date: 2020-01-13
Filing date: 2020-01-13
Publication date: 2021-01-08
Also published as: WO2021142572A1

Abstract

A drone (10) and a foot rest (12), the drone (10) comprising: a body (11); the foot rest (12), a first end part (1223) of the foot rest (12) is provided with a transmission piece, and the first end part (1223) is rotatably connected to the body (11); the transmission device (13) is arranged in the body (11) and is meshed with the transmission piece; at least one drive device (14) arranged in the body (11); the transmission device (13) can be driven by the driving device (14) and drives the transmission piece to rotate, so that the foot rest (12) can rotate around the first end portion (1223).

Description

Unmanned aerial vehicle and unmanned aerial vehicle's foot rest

Technical Field

The utility model relates to an unmanned aerial vehicle field especially relates to an unmanned aerial vehicle and unmanned aerial vehicle's foot rest.

Background

The existing unmanned aerial vehicle can comprise a foot rest, and the foot rest can be used for supporting the unmanned aerial vehicle when the unmanned aerial vehicle lands. Specifically, to the unmanned aerial vehicle who installs the cloud platform in the organism bottom, the foot rest can also be used to protect the cloud platform camera isotructure of bottom when taking off and landing. In this case, the foot rest is generally longer than the vertical height of the pan/tilt camera to protect the bottom pan/tilt camera and other structures.

However, in the flight process of the existing unmanned aerial vehicle such as return flight and normal operation, the foot rest may touch other objects, which affects the flight safety of the unmanned aerial vehicle. Further, to the unmanned aerial vehicle who installs the cloud platform in the organism bottom, when cloud platform camera is rotatory about the level, probably see unmanned aerial vehicle's foot rest, perhaps in order to avoid wearing to see the foot rest, can narrow the rotation angle of cloud platform camera, cause the limitation in the photographic operation.

BRIEF SUMMARY OF THE PRESENT DISCLOSURE

The present disclosure provides an unmanned aerial vehicle, including: a body; the first end part of the foot rest is provided with a transmission piece, and the first end part is rotatably connected to the body; the transmission device is arranged in the body and is meshed with the transmission part; at least one driving device arranged in the body; the transmission device can be driven by the driving device and drives the transmission part to rotate, so that the foot rest can rotate around the first end part.

The present disclosure also provides an unmanned aerial vehicle's foot rest, include: a first end part provided with a transmission part; the first end part is used for being rotatably connected to a body of the unmanned aerial vehicle, and the transmission piece is used for being meshed with a transmission device in the body; when the transmission piece is driven by the transmission device, the foot rest can rotate around the first end part.

According to the technical scheme, the embodiment of the disclosure has at least the following beneficial effects:

the foot rest can be automatically controlled to be retracted and extended through the transmission device and the driving device, so that the automatic control effect is realized, and the unmanned aerial vehicle is prevented from touching other objects due to the foot rest in the flying process; simultaneously, through setting up transmission and drive arrangement inside the unmanned aerial vehicle body for can reduce the comparatively important part of unmanned aerial vehicle too much expose externally, and guarantee that unmanned aerial vehicle's whole is comparatively pleasing to the eye.

The transmission part is arranged at the first end part of the foot rest, so that the transmission part is arranged on the foot rest body, the space of the foot rest is fully utilized, and the transmission part arranged at the first end part of the foot rest can be connected with the transmission device in the unmanned aerial vehicle body, so that the foot rest is more compact.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:

fig. 1A and 1B schematically show a front view of an unmanned aerial vehicle foot rest of an embodiment of the disclosure when lowered.

Fig. 2A and 2B schematically show front views of the unmanned aerial vehicle foot rest of the embodiment of the present disclosure when stowed.

Fig. 3 schematically illustrates an exploded view of a drone of an embodiment of the present disclosure.

Fig. 4A and 4B schematically illustrate a schematic view of a foot rest of an embodiment of the disclosure.

Fig. 5 schematically illustrates a schematic view of a receiving space provided on a support arm according to an embodiment of the disclosure.

[ notation ] to show

10-unmanned aerial vehicle;

11-body, 12-foot rest, 13-transmission device, 14-driving device and 15-sensor;

111-upper cover, 112-lower cover, 113-paddle;

1121-support arm, 1122-accommodation space;

121-support, 122-body portion;

1221-first side wall, 1222-second side wall, 1223-first end, 1224-second end, 1225-mounting hole, 1226-mounting groove;

131-drive rod, 132-gear ring, 133-second gear;

1311-worm, 1312-first gear, 1313-spring.

Detailed Description

Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. It should be understood that the description is illustrative only and is not intended to limit the scope of the present disclosure. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present disclosure.

According to an embodiment of the present disclosure, there is provided a drone, including: unmanned aerial vehicle body, a plurality of foot rest, transmission and at least one drive arrangement. Wherein, transmission and at least one drive arrangement set up in the unmanned aerial vehicle body.

According to an embodiment of the present disclosure, each foot rest may include a first end and a second end opposite the first end. The first end part is provided with a transmission piece and is rotatably connected to the body; the transmission device is engaged with the transmission member. The transmission device can be driven by the driving device and drives the transmission piece to rotate, so that the foot rest can rotate around the first end part.

As shown in fig. 1A and 1B, a first end 1223 (refer to fig. 4A and 4B) of the foot rest 12 is rotatably connected to the drone body 11, and the foot rest 12 may be rotated downwardly about the first end 1223 and in a lowered position.

As shown in fig. 2A and 2B, the first end 1223 of the foot rest 12 is rotatably connected to the drone body 11, and the foot rest 12 may be rotated upwardly about the first end 1223 and in a stowed position.

Through this disclosed embodiment, can receive and release of automatic control foot rest through transmission and drive arrangement, realize automated control's effect, avoid unmanned aerial vehicle to touch other objects because of the foot rest at the flight in-process. Simultaneously, through setting up transmission and drive arrangement inside the unmanned aerial vehicle body for can reduce the comparatively important part of unmanned aerial vehicle too much expose externally, and guarantee that unmanned aerial vehicle's whole is comparatively pleasing to the eye.

Referring now to fig. 3, the drone 10 provided by fig. 1A, 1B, 2A and 2B of the present disclosure is further described.

According to an embodiment of the present disclosure, as shown in fig. 3, the drone 10 includes: unmanned aerial vehicle body 11, a plurality of foot rests 12, transmission 13 and at least one drive arrangement 14.

According to an embodiment of the present disclosure, the drone body 11 may include an upper cover 111, a lower cover 112, and blades 113. Wherein each blade 113 may include a motor thereon.

In an alternative embodiment, the first end 1223 of the foot rest 12 is rotatably connected to the lower cover 112. For example, the first end 1223 of the foot rest 12 is rotatably connected to the lower edge of the lower cover 112. In an alternative embodiment, the lower cover 112 may include a plurality of arms 1121, for example, the lower cover 112 may include 4 arms 1121.

According to an embodiment of the present disclosure, the first end 1223 of the foot rest 12 is rotatably connected to an end of the support arm 1121 near the center of the lower cover. Alternatively, the first end 1223 of the foot rest 12 may be rotatably connected to an end of the arm 1121 remote from the center of the lower cover.

According to the embodiment of the present disclosure, four foot rests 12 that can rotate along the support arm direction can be arranged at the bottom of the unmanned aerial vehicle body 11, the opening state of the foot rests 12 is vertical downward, and the four foot rests 12 can be supported downward.

According to an embodiment of the present disclosure, the transmission 13 and the at least one driving device 14 may be disposed in a space formed between the upper cover 111 and the lower cover 112.

According to the embodiment of the present disclosure, the number of the foot rests 12 is not limited, and may include, for example, 1, 2, 3, or 4, etc. Wherein, in case the unmanned aerial vehicle 10 comprises 1 foot rest 12, it needs to be ensured that the unmanned aerial vehicle 10 can be supported based on 1 foot rest 12, for example, the support of the foot rest 12 can be designed as a triangle, a quadrangle, etc. Under the condition that unmanned aerial vehicle 10 includes a plurality of foot rests 12, can be with the even interval distribution of a plurality of foot rests 12 around unmanned aerial vehicle body 11.

According to the embodiment of the disclosure, as shown in fig. 1A, 1B, 2A, 2B, and 3, four support arms 1121 are connected to four corners of the center of the drone body 11, the four support arms 1121 may be in an X shape as a whole, the ends of the support arms 1121 may be connected to the blades 113, and the four support arms 1121 may intersect at a central position.

According to this disclosed embodiment, sensing device 15 such as cloud platform camera that is used for controlling the rotation in pitch can be hung to the central bottom of unmanned aerial vehicle body 11, of course, this disclosure provides unmanned aerial vehicle 10 also can not hang sensing device 15.

In an optional embodiment, the drone 10 may include a sensing device disposed at the bottom of the lower cover of the drone body, in addition to the drone body, the plurality of foot rests, the transmission device, and the at least one driving device.

According to an embodiment of the present disclosure, the sensing device may include, for example, a pan-tilt camera, or the sensing device may further include an air quality detection sensor or the like.

As shown in fig. 1A, fig. 1B, fig. 2A and fig. 2B, according to the embodiment of this disclosure, can be at unmanned aerial vehicle body 11 center four support arms of corner connection, motor and paddle can be connected to the support arm end, and four support arms are whole to be the X shape, and the support arm intersects in central point, and the cloud platform camera that is used for controlling the rotation in every single move can be hung to central bottom.

According to the embodiment of the disclosure, four foot rests 12 capable of rotating along the direction of the support arm can be arranged at the bottom, the opening state of the foot rests is vertical downward, and the four foot rests 12 support downward to protect the pan-tilt camera in the middle. The bottom of the foot rest 12 is lower than the pan-tilt camera, so that the foot rest is ensured to contact the ground first when the unmanned aerial vehicle 10 lands. After the unmanned aerial vehicle 10 takes off, the foot rest 12 can be accommodated in the support arm or partially protrude out of the support arm under the driving of the driving device 14. At this moment, no foot rest is shielded in the visual angle of the tripod head, the rotating angle of the tripod head can be larger, and more shooting scenes can be met.

According to an embodiment of the present disclosure, after the foot rest 12 is rotated away from the arm to the lowered position, the distance between the second end 1224 of the foot rest 12 (see fig. 4A and 4B) and the axis of the lower cover is greater than the distance between the sensing device 15 and the axis of the lower cover, wherein the second end 1224 is opposite the first end 1223.

By the embodiment of the disclosure, the tripod can be opened before landing, and the tripod camera is protected; the device can be retracted after flying, and the visual angle of the tripod head camera can be prevented from being shielded.

According to an embodiment of the present disclosure, each foot rest 12 may include a support 121 and a body portion 122.

As shown in fig. 4A and 4B, the support member 121 is connected to the second end 1224 of the stand 12 for supporting the stand 12. Wherein the supporting member 121 may be detachably coupled to the body portion 122, or the supporting member 121 may be integrally formed with the body portion 122.

The body portion 122 includes a portion made up of a first end 1223 and a second end 1224, the second end 1224 being opposite the first end 1223.

According to an embodiment of the present disclosure, each foot rest 12 may not include the support 121, but only the body portion 122.

According to the embodiment of the present disclosure, the unmanned aerial vehicle body 11 may include an accommodating space, and after the foot rest 12 rotates to the stowed position in the direction close to the unmanned aerial vehicle body 11, the main body part 122 of the foot rest 12 can be accommodated in the accommodating space.

According to an embodiment of the present disclosure, the accommodation space of the drone body 11 may be located at least on the lower cover 112. Alternatively, the accommodation space of the drone body 11 may be located in the space formed by the upper cover 111 and the lower cover 112.

According to the embodiment of the present disclosure, a state in which the main body portion 122 of the foot stool 12 is received in the receiving space is shown in fig. 2A and 2B.

Through including accommodation space at unmanned aerial vehicle body 11 last equipment for hold foot rest 12, make full use of the space of unmanned aerial vehicle body 11 itself, reduced unmanned aerial vehicle's size, make unmanned aerial vehicle more exquisite pleasing to the eye. Can avoid the main part 122 of foot rest 12 to expose externally, further reduce the risk that unmanned aerial vehicle runs into other objects at the flight in-process, improve unmanned aerial vehicle flying stability.

Fig. 5 schematically illustrates a schematic diagram of a receiving space provided on a support arm according to an embodiment of the disclosure.

According to the embodiment of the present disclosure, as shown in fig. 5, an accommodating space 1122 may be provided on the support arm 1121 of the drone body 11. After the foot rest 12 is rotated to the retracted position in a direction approaching the arm 1121, the main body portion 122 of the foot rest 12 can be accommodated in the accommodating space 1122.

Through setting up accommodation space 1122 on the support arm 1121 of unmanned aerial vehicle body 11 for the main part 122 of foot rest 12 can be accomodate in accommodation space 1122 after packing up, make full use of the space of unmanned aerial vehicle body 11 itself, reduced unmanned aerial vehicle's size, make unmanned aerial vehicle more exquisite pleasing to the eye. Can avoid the main part 122 of foot rest 12 to expose externally, further reduce the risk that unmanned aerial vehicle runs into other objects at the flight in-process, improve unmanned aerial vehicle flying stability.

According to an embodiment of the present disclosure, the drive device 14 may include a motor. The motor can be connected with a battery, and the motor can be driven to rotate by the power supplied by the battery.

The number of the driving devices 14 may include one or more according to an embodiment of the present disclosure. The number of the driving means 14 may be matched to the number of the foot rests 12 to be driven.

In an alternative embodiment, the driving device 14 may correspond to a plurality of foot rests 12, i.e. one driving device 14 is used for driving a plurality of foot rests 12. For example, when the drone 10 includes 4 foot rests 12, the number of drives 14 may be 1. For another example, when the drone 10 includes 4 foot rests 12, the number of drives 14 may be 2, each drive 14 being for driving 2 foot rests 12.

According to the embodiment of the present disclosure, taking the number of the driving devices 14 as one example, the description will be made on the case where 1 driving device 14 drives a plurality of foot rests 12.

According to an embodiment of the present disclosure, as shown with reference to fig. 3, 4A, and 4B, transmission 13 includes one or more drive links 131, a ring gear 132, and a second gear 133. Wherein, the number of the transmission rods 131 can be determined according to the number of the foot rests 12. For example, 4 foot rests 12 may correspond to 4 drive rods 131.

Referring to fig. 4A and 4B, each of the transmission rods 131 may include: a worm 1311, and a first gear 1312 provided at a first end of the worm 1311. Each worm 1311 meshes with the worm wheel of the transmission in the corresponding foot rest 12.

According to an embodiment of the present disclosure, a spring 1313 may be provided at a second end of the worm 1311, the second end being an end opposite to the first end.

According to an embodiment of the present disclosure, the ring gear 132 may be in mesh with the plurality of first gears 1312.

According to the embodiment of the present disclosure, the second gear 133 is provided on the driving device 14, and is engaged with the ring gear 132.

According to the embodiment of the present disclosure, the second gear 133 may be driven by the driving device 14 to rotate to drive the gear ring 132 to rotate, the gear ring 132 may drive the first gears 1312 and the worms 1311 to rotate, and the worms 1311 may drive the worm gears of the foot rests 12 to rotate, respectively, so that the foot rests 12 can rotate around the first end 1223.

According to an embodiment of the present disclosure, the gear ring 132 may be disposed in the center of the drone body 11. Through the embodiment of the present disclosure, after the unmanned aerial vehicle 10 takes off, under the driving of the driving device 14, the second gear 133 mechanically drives the central gear ring 132, the central gear ring 132 mechanically drives the first gears 1312 and the worms 1311 to rotate, the worms 1311 can respectively drive the worm gears of the foot rests 12 to rotate, and then the foot rests 12 are controlled to rotate along the direction of the support arms 1121. The present disclosure enables the gear ring 132 to be driven by a single drive means 14, thereby driving four independent foot rests 12 to be stowed. Can effectively practice thrift drive arrangement 14's quantity, reduce cost alleviates unmanned aerial vehicle 10's whole weight, and then promotes unmanned aerial vehicle 10's duration.

The reverse self-locking characteristic is achieved through the worm and worm gear transmission, namely, the worm gear of the foot rest 12 can only be driven by the worm 1311 to rotate, the worm 1311 cannot be driven by the worm gear of the foot rest 12 to rotate, and therefore the unmanned aerial vehicle foot rest folding and unfolding device has the reverse safe self-locking function.

As shown in fig. 4A and 4B, according to an embodiment of the present disclosure, the transmission member of the foot rest 12 may include a worm gear 123, a mounting hole 1225 coaxial with the worm gear 123 may be provided at a first end 1223 of the foot rest 12, and the drone body 11 is provided with a mounting shaft; the first end 1223 is rotatably connected to the drone body 11 by inserting the mounting shaft into the mounting hole 1225.

According to an embodiment of the present disclosure, the first end 1223 of the foot rest may include a first sidewall 1221, a second sidewall 1222, and a mounting slot 1226 between the first sidewall 1221 and the second sidewall 1222; the worm wheel 123 is fixed in the mounting groove 1226, and the first side wall 1221 and the second side wall 1222 each have a mounting hole 1225.

Through this disclosed embodiment, through fixing the worm wheel in the mounting groove, realized setting up the driving medium on the foot rest body, make full use of the space of foot rest itself, can be so that the driving medium that sets up through the first end of foot rest is connected with this internal transmission of unmanned aerial vehicle under the circumstances, and is compacter.

In another alternative embodiment, the drive means 14 are in a one-to-one correspondence with the foot rests 12, i.e. one drive means 14 is used to drive one foot rest 12. For example, when the drone 10 includes 2 foot rests 12, the number of drives 14 may also be 2. For example, when the drone 10 includes 4 foot rests 12, the number of drives 14 may also be 4.

According to the embodiment of the present disclosure, taking the number of the driving devices 14 as 4 as an example, 1 driving device 14 drives 1 foot stool 12.

According to an embodiment of the present disclosure, the transmission of the foot rest 12 may include a worm gear 123.

The transmission 13 may include a plurality of transmission rods 131 and a plurality of second gears 133. Each of the driving levers 131 may include: a worm 1311, and a first gear 1312 provided at a first end of the worm 1311.

The worm 1311 of each transmission rod 131 engages with the worm wheel 123 in a corresponding one of the foot rests 12.

Each of the second gears 133 is provided on a corresponding one of the driving devices 14, and each of the second gears 133 is directly meshed with one of the first gears 1312.

The second gears 133 can be driven by the corresponding driving devices 14 to rotate respectively to drive the first gears 1312 and the worms 1311 to rotate respectively, and the worms 1311 can drive the worm gears of the corresponding stands 12 to rotate respectively, so that the stands 12 can rotate around the first end 1223.

According to an embodiment of the present disclosure, in order to implement the function of the unmanned aerial vehicle 10 in which the foot rests 12 are automatically stowed or lowered, the unmanned aerial vehicle 10 may further include a control device for controlling the foot rests 12 to be automatically stowed or lowered.

According to an embodiment of the present disclosure, the control device may be connected to the driving device 14, wherein the control device is configured to control the driving device 14 to drive the transmission device 13 to rotate in response to a control instruction, so as to drive the foot stool 12 to rotate around the first end 1223.

According to the embodiment of the present disclosure, the transmission device 13 may include a second gear 133, the second gear 133 may be connected to one end of the driving device 14, and in a case that the control device controls the driving device 14 to drive the gear to rotate, the transmission member of the foot rest 12 may be driven to rotate, so as to drive the foot rest 12 to rotate around the first end 1223. Alternatively, the transmission 13 may also comprise a transmission rod 131 and a gear ring 132, etc.

According to the embodiment of the disclosure, the control command may be, for example, a takeoff command or a landing command, and may also be a first adjustment command or a second adjustment command from an external control terminal.

According to the embodiment of the disclosure, in a case that the control instruction is a takeoff instruction, the control device is configured to respond to the takeoff instruction, and after receiving a preset time of the takeoff instruction, the control device 14 drives the transmission device 13 to drive the transmission member to rotate, so as to drive the foot rest 12 to rotate around the first end 1223 in a direction close to the body.

According to the embodiment of the disclosure, the size of the preset time is not limited, and the time required for the unmanned aerial vehicle to leave the ground can be determined. For example, after the unmanned aerial vehicle receives the takeoff instruction, it generally takes 30 seconds before the unmanned aerial vehicle leaves the ground, and therefore, the preset time may be greater than 30 seconds, for example, 35 seconds, and the like. For another example, after the unmanned aerial vehicle receives the takeoff command, it generally takes 10 seconds before the unmanned aerial vehicle leaves the ground, and therefore, the preset time may be greater than 10 seconds, for example, 15 seconds, and so on. Through the embodiment of the disclosure, the problem that the unmanned aerial vehicle is unstable to take off due to the premature retraction of the foot rest can be avoided as much as possible in the take-off process of the unmanned aerial vehicle.

According to the embodiment of the present disclosure, in a case that the control command is a landing command, the control device is configured to respond to the landing command, and after receiving the landing command, the control device 14 drives the transmission device 13 to rotate the transmission member, so as to drive the foot rest 12 to rotate around the first end 1223 in a direction away from the body.

According to the embodiment of the disclosure, after receiving the landing command, the control device can immediately control the driving device 14 to drive the transmission device 13 to drive the transmission member to rotate, so as to drive the foot rest 12 to rotate around the first end 1223 in the direction away from the body. Wherein, this length of time can be confirmed according to the required time of consuming of unmanned aerial vehicle landing to ground from the present position.

According to the embodiment of the disclosure, after receiving the landing command, the control device may also control the driving device 14 to drive the transmission device 13 after extending a certain period of time, so as to drive the foot rest 12 to rotate around the first end 1223 in a direction away from the body. Wherein, this length of time can be confirmed according to the required time of consuming of unmanned aerial vehicle landing to ground from the present position.

For example, after the drone receives the landing command, if it takes 100 seconds to land on the ground, the certain time period may be 50 seconds. For another example, after the drone receives the landing command, if it takes 50 seconds to land on the ground, the certain time period may be 10 seconds. Through the embodiment of the disclosure, the problem that the foot rest meets other objects due to premature putting down of the foot rest can be avoided as much as possible in the landing process of the unmanned aerial vehicle.

According to the embodiment of the disclosure, the control device can respond to a takeoff instruction or a landing instruction, so that the function of automatically retracting or putting down the foot rest 12 of the unmanned aerial vehicle 10 is realized, and the effect of automatically controlling the foot rest to retract or put down is achieved.

According to an embodiment of the present disclosure, the drone 10 may further include a distance sensor for detecting a distance between the drone 10 and an underlying object. According to embodiments of the present disclosure, the distance sensor may be provided at the bottom of the drone 10, for example, the distance sensor may be provided on the lower cover 112 of the drone 10. This disclosure does not restrict the position of setting of distance sensor on unmanned aerial vehicle.

According to the embodiment of the present disclosure, when the distance sensed by the distance sensor is greater than or equal to the first preset distance, the distance sensor may notify the control device to control the driving device 14 to drive the transmission device 13, so as to drive the foot rest 12 to rotate around the first end 1223 towards the direction close to the body.

According to the embodiment of the present disclosure, when the distance sensed by the distance sensor is less than the first preset distance, the distance sensor may notify the control device to control the driving device 14 to drive the transmission device 13, so as to drive the foot rest 12 to rotate around the first end 1223 in the direction away from the body. The first preset distance may be preset.

According to an embodiment of the present disclosure, the distance sensor may transmit the sensed distance to the control device, which determines when to control the driving device 14 to drive the transmission 13 according to the received sensed distance. Alternatively, the distance sensor may directly send a control command to the control device, which determines when to control the drive device 14 to drive the transmission 13 according to the control command.

According to the embodiment of the present disclosure, in the case that the control command is a first adjustment command from the external control end, the control device is configured to control the driving device 14 to drive the transmission device 13 to rotate in response to the first adjustment command, so as to drive the foot rest 12 to rotate around the first end 1223 in the direction approaching the body.

According to the embodiment of the present disclosure, in the case that the control instruction is a second adjustment instruction from the external control end, the control device is configured to control the driving device 14 to drive the transmission device 13 to rotate in response to the second adjustment instruction, so as to drive the foot stool 12 to rotate around the first end 1223 in the direction away from the body.

According to the embodiment of the disclosure, the external control end can send an adjusting instruction to the control device, so that the function of automatically retracting or putting down the foot rest 12 of the unmanned aerial vehicle 10 is realized, and the effect of individually controlling the foot rest to retract or put down is achieved.

According to the embodiment of the present disclosure, the external control end may be, for example, a remote controller of the unmanned aerial vehicle, or the external control end may also be a mobile terminal in communication connection with the unmanned aerial vehicle, or the like.

According to the embodiment of this disclosure, still provide an unmanned aerial vehicle's foot rest, include: a first end portion provided with a transmission member; the first end portion is used for being rotatably connected to a body of the unmanned aerial vehicle, and the transmission piece is used for being meshed with a transmission device in the body; when the transmission piece is driven by the transmission device, the foot rest can rotate around the first end part.

According to an embodiment of the present disclosure, the transmission member includes a worm wheel, the first end portion is provided with a mounting hole coaxial with the worm wheel, the first end portion is rotatably connected to the body through the mounting hole, and the foot rest is rotatable about an axis of the mounting hole.

According to an embodiment of the present disclosure, the first end portion comprises: a first side wall, a second side wall, and a mounting slot between the first side wall and the second side wall; the worm wheel is fixed in the mounting groove, and the first side wall and the second side wall are respectively provided with one mounting hole.

According to an embodiment of the present disclosure, the foot rest further comprises: a second end opposite the first end, wherein the first end and the second end comprise a body portion of the foot rest; and the supporting piece is connected with the second end part and is used for supporting the foot rest.

It should be noted that, for the specific description of the foot rest in this embodiment, reference may be made to the descriptions of fig. 1A, fig. 1B, fig. 2A and fig. 2B, fig. 3, fig. 4A and fig. 4B, which are not repeated herein.

It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not described herein again.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present disclosure, and not for limiting the same; while the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; features in embodiments of the disclosure may be combined arbitrarily, without conflict; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present disclosure.

Claims

1. An unmanned aerial vehicle, comprising:

a body;

the first end part of the foot rest is provided with a transmission part, and the first end part is rotatably connected to the body;

the transmission device is arranged in the body and is meshed with the transmission piece;

at least one drive device disposed within the body;

the transmission device can be driven by the driving device and drives the transmission piece to rotate, so that the foot rest can rotate around the first end part.

2. The drone of claim 1, wherein the foot rest comprises:

a support member, wherein the support member is connected to the second end of the foot rest for supporting the foot rest; the second end is opposite the first end; and/or

A body portion including a portion made up of the first end and the second end.

3. The drone of claim 2, wherein the body includes an accommodation space within which a main body portion of the foot rest is receivable upon rotation of the foot rest to a stowed position in a direction proximate the body.

4. The drone of claim 3, wherein the body comprises:

the foot rest comprises a support arm, wherein the accommodating space is formed in the support arm, and after the foot rest rotates to a retracted position in a direction close to the support arm, the main body part of the foot rest can be accommodated in the accommodating space.

5. The drone of claim 1 or 4, wherein the body comprises:

an upper cover and a lower cover;

wherein first ends of the plurality of foot rests are rotatably connected to the lower cover; the transmission device and at least one of the driving devices are arranged in a space formed between the upper cover and the lower cover.

6. The drone of claim 5, wherein the lower cover comprises:

the first end of the foot rest is rotatably connected to one end of the support arm close to the center of the lower cover.

7. The drone of claim 6, wherein the drone further comprises:

the sensing device is arranged at the bottom of the lower cover;

after the foot rest rotates to the put-down position in the direction away from the support arm, the distance between the second end of the foot rest and the axis of the lower cover is greater than the distance between the sensing device and the axis of the lower cover; the second end is opposite the first end.

8. The drone of claim 1, wherein:

the number of the driving devices is multiple;

the transmission member includes: a worm gear;

the transmission device includes:

a plurality of drive links, each said drive link comprising: a worm and a first gear disposed at a first end of the worm; the worm of each transmission rod is meshed with the worm wheel of the transmission part in the corresponding foot rest;

a plurality of second gears, each of which is provided on a corresponding one of the driving devices and is engaged with one of the first gears;

the plurality of second gears can be driven by the plurality of driving devices to rotate respectively so as to drive the plurality of first gears and the worms to rotate respectively, and the plurality of worms can drive the plurality of worm gears to rotate respectively so as to enable the foot rest to rotate around the first end part.

9. The drone of claim 1, wherein:

the number of the driving devices is one;

the transmission member includes: a worm gear;

the transmission device includes:

a ring gear engaged with the plurality of first gears;

the second gear is arranged on the driving device and is meshed with the gear ring;

the second gear can be in drive arrangement's drive is down rotated to drive the ring gear rotates, the ring gear can drive a plurality ofly first gear and the worm rotates, and is a plurality of the worm can drive a plurality ofly respectively the worm wheel rotates, so that the foot rest can wind first end rotates.

10. The drone of claim 8 or 9, wherein:

the first end part of the foot rest is provided with a mounting hole which is coaxial with the worm wheel;

the body is provided with a mounting shaft; the mounting shaft is inserted into the mounting hole, so that the first end portion is rotatably connected to the body.

11. The drone of claim 10, wherein:

the first end of the foot rest comprises: a first side wall, a second side wall, and a mounting slot between the first side wall and the second side wall;

the worm wheel is fixed in the mounting groove, and the first side wall and the second side wall are respectively provided with one mounting hole.

12. The drone of claim 8 or 9, wherein a second end of the worm is provided with a spring, wherein the second end is an end opposite the first end.

13. The drone of claim 1, wherein the drive means comprises: an electric motor.

14. The drone of claim 1, further comprising:

the control device is configured to respond to a control instruction and control the driving device to drive the transmission piece to rotate so as to drive the foot rest to rotate around the first end.

15. The drone of claim 14, wherein the control instructions comprise takeoff instructions or landing instructions, wherein the control device is configured to:

responding to the takeoff instruction, and after receiving the preset time of the takeoff instruction, controlling the driving device to drive the transmission piece to rotate so as to drive the foot rest to rotate around the first end part in the direction close to the body; and/or

And responding to a landing instruction, and after the landing instruction is received, controlling the driving device to drive the transmission part to rotate so as to drive the foot rest to rotate around the first end part in the direction away from the body.

16. The drone of claim 14, further comprising: a distance sensor for detecting a distance between the drone and an underlying object, configured to:

when the distance sensed by the distance sensor is greater than or equal to a first preset distance, the control device is informed to control the driving device to drive the transmission piece to rotate so as to drive the foot rest to rotate around the first end part in the direction close to the body; and/or

When the distance sensed by the distance sensor is smaller than the first preset distance, the control device is informed to control the driving device to drive the transmission piece to rotate so as to drive the foot rest to rotate around the first end part in the direction far away from the body.

17. The drone of claim 14, wherein the control instructions comprise first and/or second adjustment instructions from an external control terminal, wherein the control device is configured to:

responding to the first adjusting instruction, controlling the driving device to drive the transmission device, driving the transmission piece to rotate, and driving the foot rest to rotate around the first end part in the direction close to the body; and/or

And responding to the second adjusting instruction, controlling the driving device to drive the transmission device and drive the transmission piece to rotate so as to drive the foot rest to rotate around the first end part in the direction far away from the body.

18. A foot rest for a drone, comprising:

a first end portion provided with a transmission member;

the first end portion is used for being rotatably connected to a body of the unmanned aerial vehicle, and the transmission piece is used for being meshed with a transmission device in the body; when the transmission piece is driven by the transmission device, the foot rest can rotate around the first end part.

19. A foot rest according to claim 18, wherein the transmission comprises:

the first end portion is provided with a mounting hole coaxial with the worm wheel, the first end portion can be rotatably connected to the body through the mounting hole, and the foot rest can rotate around the axis of the mounting hole.

20. A foot rest according to claim 19, wherein the first end comprises:

a first side wall, a second side wall, and a mounting slot between the first side wall and the second side wall;

21. A foot rest according to claim 18, further comprising:

a second end opposite the first end, wherein the first end and the second end comprise a body portion of the foot rest; and

and the supporting piece is connected with the second end part and is used for supporting the foot rest.