CN114502462A

CN114502462A - Unmanned plane

Info

Publication number: CN114502462A
Application number: CN202080069840.7A
Authority: CN
Inventors: 张立天
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2020-12-28
Filing date: 2020-12-28
Publication date: 2022-05-13
Also published as: WO2022140941A1

Abstract

An unmanned aerial vehicle (100/200/300/400/500). The drone (100) includes a first horn (10), a second horn (20), and a plurality of vision sensors (30). The drone (200/300/500) includes a first horn (10) and a second horn (20). The unmanned aerial vehicle (400) comprises a first arm (10), a second arm (20) and a foot rest structure (50). The drone (100/200/300/400/500) is capable of switching between folded and unfolded states.

Description

Unmanned plane

Technical Field

The application relates to the technical field of unmanned aerial vehicles.

Background

Unmanned aerial vehicles, also known as unmanned aerial vehicles, are unmanned aerial vehicles that are operated by radio remote control devices or self-contained automatic flight controls. Currently, unmanned aerial vehicles are widely used in various fields, such as for shooting, transporting, delivering materials, competition, and the like. For the storage of unmanned aerial vehicles, some unmanned aerial vehicles are designed into foldable unmanned aerial vehicles.

Disclosure of Invention

The embodiment of the application provides an unmanned aerial vehicle.

The unmanned aerial vehicle of this application embodiment includes first horn, second horn and a plurality of visual sensor. The second horn is connected with first horn and can rotate for first horn so that unmanned aerial vehicle switches between fold condition and expansion state, and when unmanned aerial vehicle was in fold condition, first horn and second horn were first contained angle, and when unmanned aerial vehicle was in the expansion state, first horn and second horn were the second contained angle, and first contained angle is less than the second contained angle. First horn and second horn are provided with vision sensor respectively, and two at least vision sensor among a plurality of vision sensor are less than the distance when unmanned aerial vehicle is in the expansion state at the distance when unmanned aerial vehicle is in fold condition.

The first horn and the second horn of unmanned aerial vehicle of this application embodiment are provided with vision sensor respectively, and the distance of two at least vision sensor among a plurality of vision sensor when unmanned aerial vehicle is in fold condition is less than the distance when unmanned aerial vehicle is in the expansion state to under the limited condition of unmanned aerial vehicle volume, can enlarge the perception scope when unmanned aerial vehicle flies through switching to the expansion state flight, thereby can reduce unmanned aerial vehicle's perception blind area.

This application embodiment provides another kind of unmanned aerial vehicle, and unmanned aerial vehicle includes first horn and second horn. The second horn is connected with first horn and can rotate for first horn so that unmanned aerial vehicle switches between fold condition and expansion state, and when unmanned aerial vehicle was in fold condition, first horn and second horn were first contained angle, and when unmanned aerial vehicle was in the expansion state, first horn and second horn were the second contained angle, and first contained angle is less than the second contained angle. The first arm comprises a first face and a second face which are opposite to each other, the first face is provided with a first power assembly, the second face is provided with a first vision sensor, the second arm comprises a third face and a fourth face which are opposite to each other, the third face is provided with a second power assembly, the fourth face is provided with a second vision sensor, and the orientations of the first vision sensor and the second vision sensor are different.

In the unmanned aerial vehicle of this application embodiment, first vision sensor and first power component set up at first face and the second face that carries on the back mutually, and second vision sensor and second power component set up at first face and the second face that carries on the back mutually, make unmanned aerial vehicle's vision sensor's perception scope difficult blockked by power component to enlarge unmanned aerial vehicle's perception direction and perception scope under the limited condition of unmanned aerial vehicle volume.

The embodiment of the application provides still another unmanned aerial vehicle, and unmanned aerial vehicle includes first horn and second horn. The second machine arm is connected with the first machine arm through a rotating shaft, and visual sensors are arranged at two ends of the rotating shaft. Wherein, the second horn can rotate so that unmanned aerial vehicle switches between fold condition and expansion state for first horn, and when unmanned aerial vehicle was in fold condition, first horn and second horn were first contained angle, and when unmanned aerial vehicle was in the expansion state, first horn and second horn were the second contained angle, and first contained angle is less than the second contained angle.

The relative position of the visual sensors at the two ends of the rotating shaft can not change when the unmanned aerial vehicle is in a folded or unfolded state, and the relative position does not need to be calibrated again when the visual sensors at the two ends of the rotating shaft are used for environment perception or panoramic shooting.

The embodiment of the application provides an unmanned aerial vehicle, unmanned aerial vehicle includes first horn, second horn and first foot rest. The second arm is connected with the first arm and can rotate relative to the first arm so that the unmanned aerial vehicle can be switched between a folded state and an unfolded state. First foot rest sets up in first horn and second horn at least partially, and when unmanned aerial vehicle changed from fold condition to the expansion state, at least one horn in first horn and the second horn drove first foot rest motion so that first foot rest changed from fold condition to the expansion state.

When the unmanned aerial vehicle is in a folded state, the first foot rest is also in the folded state, so that the space required for accommodating the unmanned aerial vehicle is reduced; when the unmanned aerial vehicle is switched to the unfolding state, the first foot frame can be driven to be switched to the unfolding state, so that stable support is provided for the taking-off and landing of the unmanned aerial vehicle.

This application embodiment still provides an unmanned aerial vehicle, and unmanned aerial vehicle includes first horn and second horn. The first arm includes two sub-arms. The second horn includes two sub-horns. The two sub-arms are located at the same first height, the other two sub-arms are located at the same second height, and the first height is different from the second height. When the unmanned aerial vehicle is in a folded state, the first horn and the second horn are at least partially overlapped; when the unmanned aerial vehicle is switched from the folding state to the unfolding state, the included angle between the sub-arms at the same height is switched from the first included angle to the second included angle.

The unmanned aerial vehicle of this application embodiment can switch folding and expansion state, and when unmanned aerial vehicle was in fold condition, the sub horn that is located first height can rotate relatively to the two with the sub horn that is located the second height and overlap, and the part that the two overlaps is more, and then folding unmanned aerial vehicle's after folding degree is higher, does benefit to unmanned aerial vehicle's accomodating more.

The utility model provides an unmanned aerial vehicle's first horn can rotate relatively between the horn and the second horn, makes unmanned aerial vehicle can switch folding and the state of expanding to in accomodate.

Additional aspects and advantages of embodiments of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of embodiments of the present application.

Drawings

The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic view of a folded state of a drone according to certain embodiments of the present application;

figure 2 is a schematic view of the deployed state of the drone shown in figure 1;

fig. 3 is a schematic view of a field of view of a drone according to certain embodiments of the present application;

fig. 4 is a schematic view of a field of view of a drone according to certain embodiments of the present application;

fig. 5 is an assembly schematic of the drone of certain embodiments of the present application;

figure 6 is an exploded schematic view of the drone shown in figure 5;

fig. 7 is an assembly schematic of the drone of certain embodiments of the present application;

figure 8 is an exploded schematic view of the drone shown in figure 5;

fig. 9 is a schematic view of a folded state of the drone of certain embodiments of the present application;

figure 10 is a schematic view of the deployed state of the drone shown in figure 9;

fig. 11 is an exploded schematic view of a drone according to certain embodiments of the present application;

fig. 12 is a schematic view of a drone according to certain embodiments of the present application;

fig. 13 is a schematic view of a drone of certain embodiments of the present application in a collapsed state;

figure 14 is a schematic view of the deployed state of the drone shown in figure 13;

fig. 15 is a schematic view of a drone according to certain embodiments of the present application.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative and are only for the purpose of explaining the present application and are not to be construed as limiting the present application.

In the description of the present application, it is to be understood that the terms "thickness," "upper," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings only for the convenience of description and simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and thus are not to be considered limiting of the present application. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be mechanically, electrically or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship.

The following disclosure provides many different embodiments or examples for implementing different features of the application. In order to simplify the disclosure of the present application, specific example components and arrangements are described below. Of course, they are merely examples and are not intended to limit the present application. Moreover, the present application may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, examples of various specific processes and materials are provided herein, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.

Referring to fig. 1 and 2, the present application provides a drone 100. The drone 100 includes a first horn 10, a second horn 20, and a plurality of vision sensors 30. The second arm 20 is connected to the first arm 10 and can rotate relative to the first arm 10 to switch the drone 100 between a folded state and an unfolded state, when the drone 100 is in the folded state (for example, as shown in fig. 1), the first arm 10 and the second arm 20 form a first included angle α, and when the drone 100 is in the unfolded state (for example, as shown in fig. 2), the first arm 10 and the second arm 20 form a second included angle β, and the first included angle α is smaller than the second included angle β. The first and

second booms

10, 20 are respectively provided with a vision sensor 30, and a distance between at least two vision sensors 30 of the plurality of vision sensors 30 when the drone 100 is in the folded state is smaller than a distance when the drone 100 is in the unfolded state.

That is, the distance between at least two of the plurality of vision sensors 30 when the drone 100 is in the deployed state is greater than the distance when the drone 100 is in the collapsed state. As such, the total field of view of the vision sensor 30 when the drone 100 is flying in the deployed state can be larger than the total field of view of the vision sensor 30 in the collapsed state.

The vision sensor 30 may be a general camera with a general angle of view, or may be a camera with a large angle of view, such as a fish-eye camera, without limitation. The vision sensor 30 may be used to capture a panoramic image, or to sense the environment around the drone 100 for obstacle avoidance, without limitation. The plurality of vision sensors 30 may include two cameras for taking panoramic images, which are respectively mounted to the first arm 10 and the second arm 20, and cooperate to be able to take a panoramic image of 360 ° or more. The plurality of vision sensors 30 may further include one or more common cameras, and when the plurality of vision sensors 30 further include one common camera, the common camera may acquire a plurality of frames of images and process the plurality of frames of images to acquire environmental information around the unmanned aerial vehicle 100 to achieve obstacle avoidance; when a plurality of vision sensors 30 still include a plurality of ordinary cameras, a plurality of ordinary cameras can be two double-phase a set of, and every ordinary camera of group acquires the image in order to acquire unmanned aerial vehicle 100 environmental information around jointly and keep away the barrier in order to realize. For example, the vision sensor 30 at the middle position of the first arm 10 and the vision sensor 30 at the middle position of the second arm 20 shown in fig. 1 may be cameras for taking panoramic images, and the two cameras can be used for taking 360 ° panoramic images of the image acquisition unmanned aerial vehicle 100. The two vision sensors 30 at the two ends of the first arm 10 can be used as a binocular vision system, and can cooperate with imaging to jointly acquire environmental information around the unmanned aerial vehicle 100 so as to achieve obstacle avoidance. The two vision sensors 30 at the two ends of the second arm 20 may also be used as a binocular vision system, and can cooperate with imaging to jointly acquire environmental information around the unmanned aerial vehicle 100 to achieve obstacle avoidance. Of course, the two ends of the first arm 10 or the two ends of the second arm 20 may be cameras for taking panoramic images, and a camera disposed in the middle may also sense the surrounding environment. The arrangement of the two vision sensors for constituting the binocular vision system at both ends of the horn contributes to increase in the base length, thereby improving the accuracy of measurement. When a multi-view vision system is configured by using a vision sensor provided in the middle, the accuracy can be further improved.

Referring to fig. 3 and 4, for example, the first arm 10 and the second arm 20 of the drone 100 respectively include at least two vision sensors 30, and all the four vision sensors 30 of the drone 100 are fisheye lenses. As shown in fig. 3, in the folded state, the total visual field range of the vision sensors 30 is approximately two spheres (the dotted sphere portion only indicates the visual field direction), and the visual field ranges of the vision sensors 30 of the first and

second arms

10 and 30 overlap each other to a large extent. As shown in fig. 4, in the unfolded state, the total field of view range of the vision sensors 30 is approximately four spheres, and the overlap portion of the field of view ranges of the vision sensor 30 of the first horn 10 and the vision sensor 30 of the second horn 20 is small. Therefore, under the limited circumstances of unmanned aerial vehicle 100 volume, unmanned aerial vehicle 100 can fly in order to enlarge unmanned aerial vehicle 100's field of view scope through switching to the expansion state, has enlarged the perception scope when unmanned aerial vehicle 100 flies promptly to reduce unmanned aerial vehicle 100's perception blind area.

Referring to fig. 1 and 2, when the unmanned aerial vehicle 100 is in a folded state, the first arm 10 and the second arm 20 form a first included angle α, wherein when the first included angle α is 0 °, a portion where the first arm 10 and the second arm 20 can be overlapped is maximized, and the unmanned aerial vehicle 100 is folded to a minimum state.

Please refer to fig. 3 and 4, when the drone 100 is in the deployed state, the first horn 10 and the second horn 20 form a second included angle β, and the first included angle α is smaller than the second included angle β. The distance between the adjacent vision sensors 30 can be as far as possible by adjusting the size of the second included angle β, so as to reduce the overlapping portion of the field ranges of the adjacent vision sensors 30, and expand the perception range of the unmanned aerial vehicle 100 as much as possible. For example, in the unmanned aerial vehicle 100 shown in fig. 4, the vision sensor 30 of the first arm 10 is adjacent to the vision sensors 30 of the two second arms 20, if the second included angle β is changed to make the vision sensor 30 of the first arm 10 away from one vision sensor 30 of the adjacent second arm 20, the vision sensor 30 of the first arm 10 is inevitably close to the other vision sensor 30 of the second arm 20, and when the second included angle β is 90 °, the vision sensor 30 of the first arm 10 is as far away from the two vision sensors 30 of the adjacent second arm 20, and at this time, the overlapping portion of the visual field ranges of the three vision sensors 30 is minimum, and the sensing range of the unmanned aerial vehicle 100 is expanded to the maximum state.

The unmanned aerial vehicle 100 of this application embodiment can switch folding and expansion state, unmanned aerial vehicle 100's first horn 10 and second horn 20 are provided with vision sensor 30 respectively, two at least vision sensor 30 among a plurality of vision sensor 30 are less than the distance when unmanned aerial vehicle 100 is in expansion state at the distance of unmanned aerial vehicle 100 when fold state, with under the limited condition of unmanned aerial vehicle 100 volume, can fly in order to enlarge the perception scope when unmanned aerial vehicle 100 flies through switching to expansion state, thereby can reduce unmanned aerial vehicle 100's perception blind area.

In an embodiment, when unmanned aerial vehicle is in fold condition, the baseline between the vision sensor that first horn both ends set up overlaps basically with the baseline between the vision sensor that second horn both ends set up, and when unmanned aerial vehicle was in the expansion state, the baseline between the vision sensor that first horn both ends set up and the baseline between the vision sensor that second horn both ends set up were certain contained angle.

The perception blind area of the binocular vision system is positioned in a certain angle range of the extension lines at the two sides of the base line. In this application embodiment, when unmanned aerial vehicle was in fold condition, the baseline of two vision sensors that first horn both ends set up and the baseline of two vision sensors that second horn both ends set up overlapped basically, and the perception blind area also overlaps basically each other. When the first machine arm and the second machine arm rotate relatively, the baselines of the two vision sensors arranged at the two ends of the first machine arm and the baselines of the two vision sensors arranged at the two ends of the second machine arm form a certain included angle, and the perception dead zones are converted into a staggered state from a state of basically mutually overlapping. Therefore, the perception blind areas of the two vision sensors arranged at the two ends of the first machine arm can be covered by the perception ranges of the two vision sensors arranged at the two ends of the second machine arm at least partially, and the perception blind areas of the two vision sensors arranged at the two ends of the second machine arm can be covered by the perception ranges of the two vision sensors arranged at the two ends of the first machine arm at least partially, so that the perception blind areas are integrally reduced, and the perception ranges of the unmanned aerial vehicle during flying are enlarged.

In an embodiment, during the flight of the drone, the flight controller of the drone is also used to control the reverse flight of the drone towards the blind non-perceived area. For example, the user controls unmanned aerial vehicle to the flight of the north, and the north is at present in unmanned aerial vehicle's perception blind area within range, then flight controller can control unmanned aerial vehicle and rotate to make the north be in outside unmanned aerial vehicle's perception blind area scope, improved unmanned aerial vehicle's flight safety. Because unmanned aerial vehicle is provided with the visual sensor who is used for shooing panoramic picture, also can not influence user's shooting experience when improving unmanned aerial vehicle flight safety nature.

Referring to fig. 1, the first arm 10 and the second arm 20 are connected by a rotating shaft 40, and the first arm 10 and the second arm 20 can rotate relatively around the rotating shaft 40. For example, the first arm 10 may be rotated about the rotation axis 40 to rotate the first arm 10 to form a first angle α with the second arm 20 to fold the drone 100, or to rotate the first arm 10 to form a second angle β with the second arm 20 to unfold the drone 100; the second arm 20 may also be rotated around the rotation shaft 40, so that the second arm 20 rotates to form a first included angle α with the first arm 10 to fold the drone 100, or the second arm 20 rotates to form a second included angle β with the first arm 10 to unfold the drone 100; the first arm 10 and the second arm 20 can be rotated around the rotation shaft 40, so that the first arm 10 rotates relative to the second arm 20 until the first arm 10 and the second arm 20 form a first included angle α, and the drone 100 is folded, or the first arm 10 rotates relative to the second arm 20 until the first arm 10 and the second arm 20 form a second included angle β, and the drone 100 is unfolded.

Referring to fig. 2, fig. 5 to fig. 8, the first arm 10 includes a first sub-arm 11 and a second sub-arm 12 connected to each other, and the second arm 20 includes a third sub-arm 21 and a fourth sub-arm 22 connected to each other, when the unmanned aerial vehicle 100 is in the deployed state, the first sub-arm 11, the second sub-arm 12, the third sub-arm 21, and the third sub-arm 21 are uniformly distributed around the rotating shaft 40 of the unmanned aerial vehicle 100, so that the unmanned aerial vehicle 100 can be more easily kept in balance during flying.

In the unmanned aerial vehicle 100 shown in fig. 1 and fig. 2, the first sub-horn 11 and the second sub-horn 12 have the same height with respect to the rotating shaft 40 and are located at the same first height; the third sub-machine arm 21 and the fourth sub-machine arm 22 have the same height relative to the rotating shaft 40 and are positioned at the same second height; the first height is different from the second height. Wherein, the first sub-machine arm 11 and the second sub-machine arm 12 are linked to rotate together around the rotating shaft 40, and the third sub-machine arm 21 and the fourth sub-machine arm 22 are linked to rotate together around the rotating shaft 40. Specifically, the included angle between the first sub-arm 11 and the second sub-arm 12 is fixed, and the included angle between the third sub-arm 21 and the fourth sub-arm 22 is fixed. Further, an included angle between the first sub-arm 11 and the second sub-arm 12 is 180 °, and an included angle between the third sub-arm 21 and the fourth sub-arm 22 is 180 °. When the unmanned aerial vehicle 100 is in the deployed state, the first sub-arm 11, the second sub-arm 12, the third sub-arm 21, and the fourth sub-arm 22 are uniformly distributed around the rotating shaft 40, that is, an included angle between every two sub-arms is 90 °. When the drone 100 is in the minimum folded state, the first sub-horn 11 overlaps the fourth sub-horn 22, and the third sub-horn 21 overlaps the second sub-horn 12.

In the unmanned aerial vehicle 100 shown in fig. 5 and 6, the first sub-arm 11 and the second sub-arm 12 have different heights with respect to the rotating shaft 40, and the third sub-arm 21 and the fourth sub-arm 22 have different heights with respect to the rotating shaft 40. In some embodiments, the first sub-horn 11 and the third sub-horn 21 have the same height with respect to the rotation axis 40, and are located at the same first height; the second sub-machine arm 12 and the fourth sub-machine arm 22 have the same height relative to the rotating shaft 40 and are positioned at the same second height; the first height is different from the second height. Wherein, the first sub-machine arm 11 and the second sub-machine arm 12 are linked to rotate together around the rotating shaft 40, and the third sub-machine arm 21 and the fourth sub-machine arm 22 are linked to rotate together around the rotating shaft 40. Specifically, the included angle between the first sub-arm 11 and the second sub-arm 12 is fixed, and the included angle between the third sub-arm 21 and the fourth sub-arm 22 is fixed. Further, an included angle between the first sub-arm 11 and the second sub-arm 12 is 180 °, and an included angle between the third sub-arm 21 and the fourth sub-arm 22 is 180 °. When the unmanned aerial vehicle 100 is in the deployed state, the first sub-arm 11, the second sub-arm 12, the third sub-arm 21, and the fourth sub-arm 22 are uniformly distributed around the rotating shaft 40, that is, an included angle between every two sub-arms is 90 °. When the drone 100 is in the minimum folded state, the first sub-horn 11 overlaps the fourth sub-horn 22, and the third sub-horn 21 overlaps the second sub-horn 12.

In the unmanned aerial vehicle 100 shown in fig. 7 and 8, the first sub-arm 11 and the second sub-arm 12 have the same height with respect to the rotating shaft 40 and are located at the same first height; the third sub-machine arm 21 and the fourth sub-machine arm 22 have the same height relative to the rotating shaft 40 and are positioned at the same second height; the first height is different from the second height. The first sub-machine arm 11 and the second sub-machine arm 12 can rotate around the rotating shaft 40 respectively to enable the first sub-machine arm 11 and the second sub-machine arm 12 to rotate relatively, the first sub-machine arm 11 and the second sub-machine arm 12 can be clamped, and the first sub-machine arm 11 and the second sub-machine arm 12 can be linked to rotate around the rotating shaft 40 together. Similarly, the third sub-arm 21 and the fourth sub-arm 22 can respectively rotate around the rotating shaft 40 to enable the third sub-arm 21 and the fourth sub-arm 22 to rotate relatively, and the third sub-arm 21 and the fourth sub-arm 22 can be clamped therebetween to enable the third sub-arm 21 and the fourth sub-arm 22 to be linked to rotate together around the rotating shaft 40. When the unmanned aerial vehicle 100 is in the deployed state, the first sub-arm 11, the second sub-arm 12, the third sub-arm 21, and the fourth sub-arm 22 are uniformly distributed around the rotating shaft 40, that is, an angle between every two sub-arms is 90 °. When the drone 100 is in the minimum folded state, the first sub-horn 11 overlaps with any one of the third sub-horn 21 and the fourth sub-horn 22, and the second sub-horn 12 overlaps with the other one of the third sub-horn 21 and the fourth sub-horn 22.

In the drone 100 shown in fig. 9 and 10, the first and

second booms

10 and 20 are located at different heights. At least one of the first arm 10 and the second arm 20 can rotate relative to the other arm and can be fixed at a preset unfolding position. For example, the first arm 10 is fixed, and the second arm 20 can rotate relative to the rotating shaft 40 and can be fixed at a preset unfolding position; or the second mechanical arm 20 is fixed, and the first mechanical arm 10 can rotate relative to the rotating shaft 40 and can be fixed at a preset unfolding position; or the first arm 10 and the second arm 20 can both rotate relative to the rotating shaft 40 and can be fixed at a preset unfolding position. When the unmanned aerial vehicle 100 is in the development condition, be 180 between first horn 10 and the second horn 20, the predetermined development position that promptly is 180 between first horn 10 and the second horn 20 to make unmanned aerial vehicle 100 keep balance when the flight more easily. When the drone 100 is in the minimum folded state, the first horn 10 overlaps the second horn 20.

Referring to fig. 1, 2, 7, 8, and 11, in the unmanned aerial vehicle 100 shown in fig. 1, 2, 7, and 8, the first arm 10 includes a first body 13 and a first mounting portion 14, the second arm 20 includes a second body 23 and a second mounting portion 24, and two ends of the rotating shaft 40 are rotatably connected to the first mounting portion 14 and the second mounting portion 24, respectively.

In one embodiment, the first mounting portion 14 extends from the first body 13, and the second mounting portion 24 is fixedly mounted on the second body 23, so that the first mounting portion 14 and the first body 13 can be firmly connected, and the second mounting portion 24 can be disassembled and assembled as required.

In another embodiment, the second mounting portion 24 extends from the second body 23 and the first mounting portion 14 is fixedly mounted to the first body 13.

In yet another embodiment, the first mounting portion 14 extends from the first body 13 and the second mounting portion 24 extends from the second body 23 to secure the connection of the first mounting portion 14 to the first body 13 and the connection of the second mounting portion 24 to the second body 23.

In still another embodiment, the first mounting portion 14 is fixedly mounted on the first body 13, and the second mounting portion 24 is fixedly mounted on the second body 23, so as to add parts that can be modularized on the unmanned aerial vehicle 100, so that the unmanned aerial vehicle 100 has more modules that can be installed by self-definition, and a user can install, configure, detach, and replace parts as required more flexibly according to requirements.

In some embodiments, the shaft 40 is integral with the first or second mounting

portion

14, 24. For example, the rotating shaft 40 and the first mounting portion 14 are integrated, and the second arm 20 can rotate relative to the rotating shaft 40 to rotate the second arm 20 relative to the first arm 10; or the rotating shaft 40 and the second mounting part 24 are integrated, and the first machine arm 10 can rotate relative to the rotating shaft 40 to enable the first machine arm 10 to rotate relative to the second machine arm 20.

Referring to fig. 5 and 6, in the unmanned aerial vehicle 100 shown in fig. 5 and 6, the first arm 10 includes a combining portion 15, the rotating shaft 40 penetrates through the combining portion 15, and two ends of the rotating shaft are exposed from two sides of the combining portion 15; the first sub-machine arm 11 and the second sub-machine arm 12 are symmetrically arranged on two sides of the joint part 15; the third sub-arm 21 is sleeved at one end of the rotating shaft 40 exposed from one side of the combining part 15; the fourth sub-arm 22 is fitted around the other end of the shaft 40 exposed from the other side of the joint 15. The first arm 10 can rotate relative to the rotation shaft 40 to rotate the first arm 10 relative to the second arm 20.

Referring to fig. 2, in some embodiments, the first end 16 of the first arm 10 is provided with a first power assembly 17 and the second end 25 of the second arm 20 is provided with a second power assembly 26.

The first power assembly 17 and the second power assembly 26 include a rotor 171/261 and a motor (not shown) capable of driving the rotor 171/261 to rotate to provide the power required by the drone 100 to fly, the power including at least the lift force for the drone 100 to ascend and maintain the drone 100 in flight and the propulsion force for the drone 100 to change the direction of flight.

When the drone 100 is in the folded state, the rotor 171 of the first tip 16 can rotate relative to the first tip 16 to a state where the overlapping portion of the two is the largest, and the rotor 261 of the second tip 25 can rotate relative to the second tip 25 to a state where the overlapping portion of the two is the largest. On one hand, the folding shape of the unmanned aerial vehicle 100 can be as sufficient as possible so as to be convenient for storage; on the other hand, the folded rotor 171/261 overlaps with the first boom 10 or the second boom 20 as much as possible, and the first boom 10 and the second boom 20 can protect the folded rotor 171/261 to prevent the rotor 171/261 from breaking.

Specifically, in the drone 100 as shown in fig. 1 to 8, the first sub-horn 11 and the second sub-horn 12 each have a first end 16, each first end 16 being provided with a first power assembly 17; the third sub-horn 21 and the fourth sub-horn 22 each have a second end 25, and each second end 25 is provided with a second power assembly 26. When unmanned aerial vehicle 100 is in the expansion state, every power component is around unmanned aerial vehicle 100's pivot 40 evenly distributed to provide the balanced power in all directions, make unmanned aerial vehicle 100 can keep balance when the flight.

In the drone 100 shown in fig. 9 and 10, the first end 16 of the first arm 10 is provided with a first power assembly 17, and the second end 25 of the second arm 20 is provided with a second power assembly 26. When unmanned aerial vehicle 100 is in the expansion state, be 180 contained angles between first horn 10 and the second horn 20, make first power component 17 and second power component 26 around unmanned aerial vehicle 100's pivot 40 evenly distributed to provide the balanced power in all directions, make unmanned aerial vehicle 100 can keep balance when the flight.

In the drone 100 as shown in fig. 9 and 10, in one embodiment, the first end 16 is rotatable to adjust the orientation of the first power assembly 17; the second end 25 is rotatable to adjust the orientation of the second power assembly 26. Specifically, first end 16 can rotate relative to first horn 10 to adjust the orientation of first power component 17, make rotor 171's oar plane (oar dish, the same down) be predetermined inclination relative to first horn 10, make unmanned aerial vehicle 100 change flight direction. Similarly, the second end 25 can be rotated relative to the second arm 20 to adjust the orientation of the second power assembly 26, so that the blade plane of the rotor 261 has a predetermined tilt angle relative to the second arm 20, and the drone 100 changes the flight direction.

In another embodiment, the first power assembly 17 is rotatable to adjust the orientation of the first power assembly 17; the second power assembly 26 is rotatable in the orientation of the second power assembly 26. Specifically, first power component 17 can rotate relative first end 16 to the orientation of adjustment first power component 17 makes the oar plane of rotor 171 be predetermined inclination relative to first horn 10, makes unmanned aerial vehicle 100 change the flight direction. Similarly, the second power assembly 26 can rotate relative to the second end 25 to adjust the orientation of the second power assembly 26, so that the blade plane of the rotor 261 has a predetermined tilt angle relative to the second arm 20, and the unmanned aerial vehicle 100 changes the flight direction.

In yet another embodiment, both the first end 16 and the first power assembly 17 are rotatable to adjust the orientation of the first power assembly 17; the second end 25 and the second power assembly 26 are both rotatable to adjust the orientation of the second power assembly 26. Specifically, the first end 16 can rotate relative to the first arm 10, and the first power assembly 17 can rotate relative to the first end 16, so that the orientation of the first power assembly 17 can be adjusted in a grading manner, and the adjustment precision of the orientation of the first power assembly 17 is improved. Similarly, the second end 25 can rotate relative to the second arm 20, and the second power assembly 26 can rotate relative to the second end 25, so that the orientation of the second power assembly 26 can be adjusted in a grading manner, and the adjustment precision of the orientation of the second power assembly 26 can be improved.

Referring to fig. 12, the drone 100 includes a plurality of vision sensors 30, and specifically, the first horn 10 is provided with at least one vision sensor 30, and the second horn 20 is provided with at least one vision sensor 30. In some embodiments, the first arm 10 and the second arm 20 are connected by a rotating shaft 40, and a vision sensor 30 may be disposed at any end of the rotating shaft 40.

The plurality of visual sensors 30 may include a first type of visual sensor 30 and a second type of visual sensor 30, the first type of visual sensor 30 is used for sensing the surrounding environment of the drone 100, and the second type of visual sensor 30 is used for shooting a panoramic image.

In some embodiments, the visual sensor 30 disposed on the shaft 40 is a second type of visual sensor 30. For example, the second type vision sensor 30 is disposed at one end of the rotating shaft 40 close to the first arm 10; or the second type vision sensor 30 is arranged at one end of the rotating shaft 40 close to the second machine arm 20; or one second type vision sensor 30 is respectively arranged at both ends of the rotating shaft 40. When two second-type vision sensors 30 are respectively arranged at two ends of the rotating shaft 40, the panoramic image may be a panoramic image of more than or equal to 360 degrees, which is obtained by splicing images obtained by the two second-type vision sensors 30 at the two ends of the rotating shaft 40.

Referring to fig. 1 to 10, in some embodiments, at least one end of the first arm 10 is provided with a first type vision sensor 30, and at least one end of the second arm 20 is provided with a first type vision sensor 30. The first type of vision sensor 30 is arranged at the tail ends of the first horn 10 and the second horn 20, so that on one hand, the first type of vision sensor 30 can be far away from the rotating shaft 40 and the horns of the unmanned aerial vehicle 100, and the shielding of the rotating shaft 40 and the horns on the first type of vision sensor 30 is reduced; on the other hand, when the unmanned aerial vehicle 100 is in the unfolding state, the distance between the first type of vision sensors 30 is as far as possible, so that the overlapping part of the visual fields of the first type of vision sensors 30 is reduced, and the total visual field range of the unmanned aerial vehicle 100 is enlarged.

The first type of vision sensor 30 of the first arm 10 and the first type of vision sensor 30 of the second arm 20 are used together for obstacle avoidance of the drone 100. Wherein the first type of vision sensor 30 is not coplanar with the rotor 171/261 to reduce occlusion of the vision sensor 30 by the rotor 171/261.

Further, referring to fig. 2, in some embodiments, the first arm 10 includes a first side 18 and a second side 19 opposite to each other, the first side 18 is provided with a first power assembly 17, the second side 19 is provided with a first vision sensor 301, the second arm 20 includes a third side 27 and a fourth side 28 opposite to each other, the third side 27 is provided with a second power assembly 26, and the fourth side 28 is provided with a second vision sensor 302. The first and

second vision sensors

301, 302 are oriented differently to reduce the overlap of the fields of view of the first and

second vision sensors

301, 302 in the deployed state, thereby extending the overall field of view of the drone 100.

In some embodiments, at least one end of the first arm 10 is provided with a first visual sensor 301 and at least one end of the second arm 20 is provided with a second visual sensor 302. The first and

second vision sensors

301, 302 are oriented differently, and the first and

second vision sensors

301, 302 are both located at the end of the boom to further reduce the overlap of the fields of view of the first and

second vision sensors

Referring to fig. 1, 2, 7, and 8, in the unmanned aerial vehicle 100 shown in fig. 1 and 2 and the unmanned aerial vehicle 100 shown in fig. 7 and 8, the first vision sensor 301 is respectively disposed at the ends of the first sub-arm 11 and the second sub-arm 12, the first surface 18 is a surface of the first sub-arm 11 and the second sub-arm 12 on which the first power component 17 is disposed, and the second surface 19 is a surface of the first sub-arm 11 and the second sub-arm 12 on which the first vision sensor 301 is disposed. For example, the first face 18 may face in a direction facing the second horn 20 and the second face 19 faces away from the second horn 20. The first surface 18 and the second surface 19 may be any one of a plane, a curved surface, and a combination of a plane and a curved surface, respectively, without limitation.

Similarly, the second vision sensor 302 is respectively disposed at the ends of the third sub-arm 21 and the fourth sub-arm 22, the side of the third sub-arm 21 and the fourth sub-arm 22 where the second power assembly 26 is disposed is the third surface 27, and the side of the third sub-arm 21 and the fourth sub-arm 22 where the second vision sensor 302 is disposed is the fourth surface 28. For example, the third face 27 may face in a direction facing the first horn 10 and the fourth face 28 may face in a direction facing away from the first horn 10. The third surface 27 and the fourth surface 28 may be any one of a flat surface, a curved surface, and a combination of a flat surface and a curved surface, respectively, without limitation.

Of course, in other embodiments, the second face 19 may face in a direction facing the second horn 20, and the first face 18 may face in a direction away from the second horn 20; correspondingly, the third surface 27 may face away from the first horn 10, and the fourth surface 28 may face toward the first horn 10, without limitation.

Preferably, the first face 18 faces the direction facing the second arm 20, and the third face 27 faces the direction facing the first arm 10, that is, the first face 18 is opposite to the third face 27, so that the first power assembly 17 and the second power assembly 26 can be located at the same height, so as to facilitate the balance of the unmanned aerial vehicle 100 during flight.

Referring to fig. 9 and 10, in the unmanned aerial vehicle 100 shown in fig. 9 and 10, the first power assembly 17 is disposed on the first surface 18, the first vision sensor 301 is disposed on the second surface 19, and the first surface 18 is opposite to the second surface 19. The third surface 27 is provided with the first power assembly 17, the fourth surface 28 is provided with the second vision sensor 302, and the third surface 27 and the fourth surface 28 are opposite to each other. The first face 18 may face away from the second horn 20, and the second face 19 faces in a direction facing the second horn 20; or the second face 19 may face away from the second horn 20 and the first face 18 may face in a direction towards the second horn 20. The third face 27 may face away from the first horn 10 and the fourth face 28 faces in a direction facing the first horn 10; or the third face 27 may face away from the first horn 10 and the fourth face 28 may face in the direction of the first horn 10. The first surface 18, the second surface 19, the third surface 27, and the fourth surface 28 may be any one of a flat surface, a curved surface, and a combination of a flat surface and a curved surface, respectively, and are not limited herein.

Referring to fig. 13 and 14, in some embodiments, the drone 100 may further include a foot rest structure 50, where the foot rest structure 50 is connected to the first arm 10 and/or the second arm 20 and is used to support the drone 100 when the drone 100 takes off and lands.

In some embodiments, the stand structure 50 may include two first stands 51, and each first stand 51 is rotatably connected to the first arm 10 and the second arm 20. The first stand 51 can be selectively in a folded or unfolded state.

Specifically, the first leg 51 includes a support 511 for supporting the drone 100 when the drone 100 takes off and lands, and a distance from the support 511 to the rotating shaft 40 of the drone 100 when the drone 100 is in the folded state is smaller than a distance from the support 511 to the rotating shaft 40 when the drone 100 is in the unfolded state.

In one embodiment, when the drone 100 changes from the folded state to the unfolded state, at least one of the first and

second booms

10, 20 moves the first stand 51 such that the first stand 51 changes from the unfolded state to the folded state. In this way, when the unmanned aerial vehicle 100 after the unmanned aerial vehicle 100 has fallen is in the folded state, the first foot stool 51 can be unfolded to support the unmanned aerial vehicle 100 in the folded state; when the drone 100 is flying in the unfolded state, the first leg 51 can be folded to avoid blocking the vision sensors 30 at both ends of the rotating shaft 40.

In another embodiment, when the drone 100 changes from the folded state to the unfolded state, at least one of the first and

second booms

10, 20 moves the first stand 51 such that the first stand 51 changes from the folded state to the unfolded state. As such, when the drone 100 lands in the deployed state, the first stand 51 can remain in the deployed state to support the drone 100; when unmanned aerial vehicle 100 is in fold condition, the foot rest can be folded to in take in unmanned aerial vehicle 100.

In some embodiments, the supports 511 of the two first foot rests 51 are always symmetrical about the rotation axis 40 of the unmanned aerial vehicle 100, so that the supports 511 can be balanced whether the first foot rests 51 are in a folded state, an unfolded state or any position state between the folded state and the unfolded state, so as to keep the balance of the unmanned aerial vehicle 100 when the unmanned aerial vehicle 100 is parked and placed, when the unmanned aerial vehicle is taking off and landing, and when the unmanned aerial vehicle is flying. Wherein the first foot prop 51 may be arranged to be unfolded when the drone 100 is unfolded and to be folded when the drone 100 is folded; or may be configured to fold when the drone 100 is folded and to unfold when the drone 100 is folded, without limitation.

Specifically, with continued reference to fig. 13 and 14, the first leg 51 may include a first link 512 and a second link 513. The first link 512 is rotatably mounted to the first horn 10. The second link 513 is rotatably mounted to the second arm 20. The supporting member 511 is disposed through the first connecting rod 512 and the second connecting rod 513, and the first connecting rod 512 and the second connecting rod 513 can rotate relatively to change the third included angle γ therebetween. The third included angle γ when the unmanned aerial vehicle 100 is in the folded state is greater than the third included angle γ when the unmanned aerial vehicle 100 is in the unfolded state.

When the first arm 10 drives the first link 512 to rotate, the second link 513 and the support 511 can be linked with the first link 512, and the first link 512 and the second link 513 rotate relatively to each other to change the size of the third included angle γ therebetween. When the second arm 20 drives the second link 513 to rotate, the first link 512 and the support 511 can be linked with the second link 513, and the first link 512 and the second link 513 rotate relatively to each other to change the size of the third included angle γ therebetween.

For example, in the unmanned aerial vehicle 100 shown in fig. 13 and 14, the two first links 512 are located at the same height, the two second links 513 are located at the same height, the two supports 511 have the same size, and the supports 511 of the two first foot rests 51 are always symmetrical with respect to the rotating shaft 40 of the unmanned aerial vehicle 100, so that the supports 511 can stably support the unmanned aerial vehicle 100 regardless of whether the first foot rests 51 are in the folded state, the unfolded state, or any position between the folded state and the unfolded state. When the drone 100 is in the folded state, both the first foot rests 51 are in the folded state. When the drone 100 changes from the folded state to the unfolded state, the third included angle γ gradually decreases, and the support 511 gradually moves away from the rotating shaft 40. When the unmanned aerial vehicle 100 changes from the unfolded state to the folded state, the third included angle γ gradually increases, and the support 511 gradually approaches the rotating shaft 40.

It should be noted that the folding and unfolding manner of the first foot rest is not limited to the form of the connecting rod, and may also include the form of the rack and pinion or the form of rotation, and the above description is only an embodiment of the present application, and is not intended to limit the present application.

Referring to fig. 13 and 14, in some embodiments, the foot stand structure 50 may include a second foot stand 52, and at least one of the first arm 10 or the second arm 20 is provided with a pair of second foot stands 52, and the second foot stands 52 are used for supporting the unmanned aerial vehicle 100 when the unmanned aerial vehicle 100 takes off and lands.

The following description will be given taking as an example that the second boom 20 is provided with the pair of second foot rests 52, and the second boom 20 is below the first boom 10 when the unmanned aerial vehicle 100 lands.

In one embodiment, the second power assembly 26 is located on the third face 27 facing in a direction facing the first boom 10, and the second vision sensor 302 and the second foot rest 52 are located on the fourth face 28 facing away from the first boom 10. The second foot rest 52 may be closer to the rotating shaft 40 than the second vision sensor 302, so as to make the distance between the two second vision sensors 302 farther, so as to reduce the overlapping portion of the field of view ranges of the two second vision sensors 302, and enlarge the total field of view range of the drone 100, or further from the rotating shaft 40 than the second vision sensor 302, so as to make the support of the drone 100 by the second foot rest 52 more stable, without limitation.

The second foot rest 52 may be any one of a cylinder structure, a cone structure, and a combination structure of a cylinder and a cone, for example, the second foot rest 52 may be a cylinder, a prism, a pyramid, a combination of a cylinder and a cone, a combination of a cylinder and a pyramid, a combination of a prism and a cone, and the like, which is not limited herein.

Further, when the second foot rest 52 and the vision sensor 30 are located on the same plane, the cross section of the second foot rest 52 gradually decreases along the direction away from the arm, and the cross section of the second foot rest 52 has a bevel edge, and the bevel edge is located on the side close to the vision sensor 30, so that the side of the second foot rest 52 close to the vision sensor 30 is away from the visual field of the vision sensor 30, so as to prevent the second foot rest 52 from entering the visual field of the vision sensor 30 and blocking the vision sensor 30.

In some embodiments, at least one of the first arm 10 or the second arm 20 may be provided with a plurality of pairs of second foot rests 52, such as 2 pairs (shown in fig. 15), 3 pairs, and 4 pairs of second foot rests 52, which are not listed here. The same pair of second foot rests 52 may be symmetrically disposed about the rotating shaft 40, and the multiple pairs of second foot rests 52 jointly support the drone 100, so as to further improve the stability of the support.

In some embodiments, the foot stand structure 50 may include only the first foot stand 51, and support of the drone 100 may be achieved by only the first foot stand 51; the foot stool structure 50 may also only include the second foot stool 52, and the support of the unmanned aerial vehicle 100 can be realized only by the second foot stool 52; the foot stool structure 50 may further include a first foot stool 51 and a second foot stool 52 (shown in fig. 13 and 14), and the support of the unmanned aerial vehicle 100 is realized through the combined action of the first foot stool 51 and the second foot stool 52.

Referring to fig. 15, in some embodiments, an adaptor 60 is disposed at a connection point of the first arm 10 and the second arm 20, and at least one of two ends of the adaptor 60 is used for externally connecting the function module 70, so that the function module 70 is mechanically and electrically connected to the drone 100.

The functional module 70 may include any one of a pan/tilt camera, a handheld pan/tilt head, or a visual sensor 30, which is not limited herein. For example, one end of the adaptor 60 is the vision sensor 30, and the other end is the pan-tilt camera; for another example, one end of the adaptor 60 is the vision sensor 30, and the other end is also the vision sensor 30; for another example, one end of the adaptor 60 is a pan/tilt camera, and the other end is left empty, i.e. not connected to the function module 70, etc., which are not listed here.

In one embodiment, the adaptor 60 may also be a power supply module for supplying power to the drone and/or the function module.

In one embodiment, the adaptor 60 may be disposed in the rotating shaft 40, specifically, the rotating shaft 40 is disposed with a receiving portion 80, the adaptor 60 is disposed in the receiving portion 80, and both ends of the adaptor 60 are respectively exposed from the first arm 10 and the second arm 20 for connecting the external function module 70.

In one embodiment, the adaptor 60 can be used as the rotating shaft 40 of the drone 100, and two ends of the adaptor 60 respectively penetrate through the first horn 10 and the second horn 20 to connect the external function module 70.

In another embodiment, a receiving portion 80 is provided at the connection position of the first arm 10 and the second arm 20, the receiving portion 80 is used for mechanically and electrically connecting the functional module 70, for example, for mechanically and electrically connecting a handheld tripod head, and the handheld tripod head is partially received inside the receiving portion 80. Specifically, the hand-held portion of the hand-held pan-tilt is housed inside the housing portion 80, and the pan-tilt camera of the hand-held pan-tilt is exposed from one of the first arm 10 and the second arm 20. So, handheld cloud platform both can the independent utility, can carry on the flight by unmanned aerial vehicle again, shoots stable picture at the flight in-process. Optionally, the power module of handheld cloud platform still can be used to for the unmanned aerial vehicle power supply, perhaps the power module of unmanned aerial vehicle still can be used to for the handheld cloud platform power supply, realizes the basic equilibrium of electric quantity.

Referring to fig. 1 and fig. 2, the present application further provides a drone 200, where the drone 200 includes a first horn 10 and a second horn 20. The second horn 20 is connected with the first horn 10 and can rotate for first horn 10 so that unmanned aerial vehicle 200 switches between fold condition and the state of expanding, and when unmanned aerial vehicle 200 was in fold condition, first horn 10 and second horn 20 were first contained angle alpha, and when unmanned aerial vehicle 200 was in the state of expanding, first horn 10 and second horn 20 were second contained angle beta, and first contained angle alpha is less than second contained angle beta. The first horn 10 comprises a first face 18 and a second face 19 which are opposite to each other, the first face 18 is provided with a first power assembly 17, the second face 19 is provided with a first vision sensor 301, the second horn 20 comprises a third face 27 and a fourth face 28 which are opposite to each other, the third face 27 is provided with a second power assembly 26, the fourth face 28 is provided with a second vision sensor 302, and the orientations of the first vision sensor 301 and the second vision sensor 302 are different.

The unmanned aerial vehicle 200 of this application embodiment can switch folding and expansion state, first vision sensor 301 and first power component 17 set up at first face 18 and second face 19 that carry on the back mutually among the unmanned aerial vehicle 200, and second vision sensor 302 and second power component 26 set up at first face 18 and second face 19 that carry on the back mutually, make unmanned aerial vehicle 200's vision sensor 30's perception scope difficult by power component to block, with the perception direction and the perception scope that enlarge unmanned aerial vehicle 200 under the limited condition of unmanned aerial vehicle 200 volume.

In some embodiments, the unmanned aerial vehicle 200 may further include the first visual sensor 301, the second visual sensor 302, the first power assembly 17, the second power assembly 26, the rotating shaft 40, the foot stool structure 50, the adaptor 60, and the receiving portion 80 of any one of the above embodiments, and may implement the same functions, which is not described herein again.

Specifically, the drone 200 may be any one of the drone 200 shown in fig. 1 to 4 and fig. 7 to 15, and the structure and the function of the drone 200 corresponding to the diagrams are the same as those of the drone 100 corresponding to the same diagrams, and are not described herein again.

Referring to fig. 1, fig. 2, and fig. 12, the present application also provides an unmanned aerial vehicle 300, wherein the unmanned aerial vehicle 300 includes a first arm 10 and a second arm 20. The second arm 20 is connected to the first arm 10 through a rotation shaft 40, and the vision sensor 30 is disposed at both ends of the rotation shaft 40. Wherein, second horn 20 can rotate so that unmanned aerial vehicle 300 switches between fold condition and expansion state for first horn 10, and when unmanned aerial vehicle 300 was in fold condition, first horn 10 and second horn 20 were first contained angle alpha, and when unmanned aerial vehicle 300 was in the expansion state, first horn 10 and second horn 20 were second contained angle beta, and first contained angle alpha is less than second contained angle beta.

The unmanned aerial vehicle 300 of this application embodiment can switch folding and expansion state, and the relative position of the visual sensor 30 at pivot 40 both ends can not change when unmanned aerial vehicle 300 is in folding or expansion state, need not to mark relative position again when utilizing the visual sensor 30 at pivot 40 both ends to carry out environmental perception or panorama shooting.

In some embodiments, the first arm 10 includes first and second opposing faces 18, 19, the first face 18 is provided with the first power component 17, the second face 19 is provided with the first vision sensor 301, the second arm 20 includes third and fourth opposing faces 27, 28, the third face 27 is provided with the second power component 26, the fourth face 28 is provided with the second vision sensor 302, and the first vision sensor 301 of the second face 19 and the second vision sensor 302 of the fourth face 28 are oriented differently.

Further, the first visual sensor 301 and the second visual sensor 302 are a first type visual sensor 30, and the first type visual sensor 30 is used for sensing the surrounding environment of the unmanned aerial vehicle; the vision sensors 30 disposed at both ends of the rotation shaft 40 are the second type vision sensors 30, and the second type vision sensors 30 are used to photograph a panoramic image. The first type of vision sensor 30 and the second type of vision sensor 30 may be the first type of vision sensor 30 and the second type of vision sensor 30 of any of the above embodiments.

In some embodiments, the unmanned aerial vehicle 300 may further include the first power assembly 17, the second power assembly 26, and the foot rest structure 50 of any of the above embodiments, and can achieve the same functions, which are not described herein again.

Specifically, the drone 300 may be any one of the drones 300 shown in fig. 1 to 6 and 9 to 14, and the structure and the function of the drone 300 corresponding to the diagrams are the same as those of the drone 100 corresponding to the same diagrams, and are not described herein again.

Referring to fig. 1, 2, 13 and 14, the present application further provides an unmanned aerial vehicle 400, wherein the unmanned aerial vehicle 400 includes a first arm 10, a second arm 20 and a first stand 51. The second boom 20 is connected with the first boom 10 and is rotatable with respect to the first boom 10 to switch the drone 400 between the folded state and the unfolded state. The first leg 51 is at least partially disposed on the first arm 10 and the second arm 20, and when the unmanned aerial vehicle 400 changes from the folded state to the unfolded state, at least one of the first arm 10 and the second arm 20 drives the first leg 51 to move so that the first leg 51 changes from the folded state to the unfolded state.

The unmanned aerial vehicle 400 of the embodiment of the application can be switched between the folded state and the unfolded state, and when the unmanned aerial vehicle 400 is in the folded state, the first foot frame 51 is also in the folded state, so that the space required for accommodating the unmanned aerial vehicle 400 is reduced; when the unmanned aerial vehicle 400 is switched to the unfolding state, the first foot frame 51 can be also driven to be switched to the unfolding state so as to provide stable support for the taking off and landing of the unmanned aerial vehicle 400.

In some embodiments, the unmanned aerial vehicle 400 may further include the first visual sensor 301, the second visual sensor 302, the first power assembly 17, the second power assembly 26, the rotating shaft 40, the adaptor 60, the second foot rest 52, and the receiving portion 80 of any one of the above embodiments, and may implement the same functions, which is not described herein again.

Specifically, the drone 400 may be any one of the drone 400 shown in fig. 1 to 4 and 9 to 15, and the structure and the function of the drone 400 corresponding to the illustration are the same as those of the drone 100 corresponding to the same illustration, and are not described herein again.

Referring to fig. 5 to 8, the present application further provides an unmanned aerial vehicle 500, where the unmanned aerial vehicle 500 includes a first arm 10 and a second arm 20. The first arm 10 includes two sub-arms. The second horn 20 includes two sub-horns. The two sub-arms are located at the same first height, the other two sub-arms are located at the same second height, and the first height is different from the second height. When the drone 500 is in the folded state, the first and

second booms

10, 20 at least partially overlap; when the unmanned aerial vehicle 500 is switched from the folded state to the unfolded state, the included angle between the sub-arms located at the same height is switched from the first included angle α to the second included angle β.

The unmanned aerial vehicle 500 of this application embodiment can switch folding and expansion state, and when unmanned aerial vehicle 500 was in folding state, the sub horn that is located first height can rotate relatively to the two with the sub horn that is located the second height and overlap, and the part that the two overlaps is more, and then unmanned aerial vehicle 500 after folding's folding degree is higher, does benefit to unmanned aerial vehicle 500 more and accomodates.

With continued reference to fig. 5-8, in some embodiments, the first boom 10 includes a first sub-boom 11 and a second sub-boom 12 connected together, the second boom 20 includes a third sub-boom 21 and a fourth sub-boom 22 connected together,

in the unmanned aerial vehicle 500 shown in fig. 5 and 6, the first sub-arm 11 and the second sub-arm 12 have different heights with respect to the rotating shaft 40, and the third sub-arm 21 and the fourth sub-arm 22 have different heights with respect to the rotating shaft 40. In some embodiments, the first sub-horn 11 and the third sub-horn 21 have the same height with respect to the rotation axis 40, and are located at the same first height; the second sub-machine arm 12 and the fourth sub-machine arm 22 have the same height relative to the rotating shaft 40 and are positioned at the same second height; the first height is different from the second height.

In the unmanned aerial vehicle 500 shown in fig. 7 and 8, the first sub-arm 11 and the second sub-arm 12 have the same height with respect to the rotating shaft 40 and are located at the same first height; the third sub-machine arm 21 and the fourth sub-machine arm 22 have the same height relative to the rotating shaft 40 and are positioned at the same second height; the first height is different from the second height.

In some embodiments, the unmanned aerial vehicle 500 may further include the first visual sensor 301, the second visual sensor 302, the first power assembly 17, the second power assembly 26, the rotating shaft 40, the foot stool structure 50, the adaptor 60, and the receiving portion 80 of any one of the above embodiments, and may implement the same functions, which is not described herein again.

In the description herein, references to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Claims

1. An unmanned aerial vehicle, comprising:

a first arm;

the second arm is connected with the first arm and can rotate relative to the first arm so that the unmanned aerial vehicle can be switched between a folded state and an unfolded state, when the unmanned aerial vehicle is in the folded state, a first included angle is formed between the first arm and the second arm, when the unmanned aerial vehicle is in the unfolded state, a second included angle is formed between the first arm and the second arm, and the first included angle is smaller than the second included angle; and

a plurality of vision sensor, first horn with the second horn is provided with respectively vision sensor, a plurality of at least two among the vision sensor is in distance when unmanned aerial vehicle is in fold condition is less than distance when unmanned aerial vehicle is in the expansion state.

2. The unmanned aerial vehicle of claim 1, wherein the first horn and the second horn are connected by a shaft, and the first horn and the second horn are capable of relative rotation about the shaft.

3. The drone of claim 1, wherein the first horn includes first and second jointed sub-horns, the second horn includes third and fourth jointed sub-horns, and the first, second, third, and fourth sub-horns are evenly distributed around a rotation axis of the drone when the drone is in the deployed state.

4. The drone of claim 3, wherein the first sub-horn is linked with the second sub-horn, and the third sub-horn is linked with the fourth sub-horn.

5. The unmanned aerial vehicle of claim 4, wherein the first horn comprises a first body and a first mounting portion, the second horn comprises a second body and a second mounting portion, and two ends of the rotating shaft are respectively connected with the first mounting portion and the second mounting portion in a rotating manner.

6. The unmanned aerial vehicle of claim 5, wherein the shaft is integral with the first mounting portion or the second mounting portion.

7. The unmanned aerial vehicle of claim 4, wherein the first arm includes a joint portion, the shaft penetrates through the joint portion and two ends of the shaft are exposed from two sides of the joint portion; the first sub-arm and the second sub-arm are symmetrically arranged on two sides of the combining part; the third sub-arm is sleeved at one end of the rotating shaft exposed out of one side of the combining part; the fourth sub-arm is sleeved at the other end of the rotating shaft exposed from the other side of the combining part.

8. A drone according to claim 3, wherein the first sub-arm is rotatable relative to the second sub-arm, and the third sub-arm is rotatable relative to the fourth sub-arm.

9. The unmanned aerial vehicle of claim 3, wherein the first sub-arm and the second sub-arm have the same height relative to the rotating shaft, the third sub-arm and the fourth sub-arm have the same height relative to the rotating shaft, and the first sub-arm and the third sub-arm have different heights relative to the rotating shaft.

10. The unmanned aerial vehicle of claim 3, wherein the first sub-boom and the second sub-boom have different heights relative to the rotating shaft, the third sub-boom and the fourth sub-boom have different heights relative to the rotating shaft, the first sub-boom and the third sub-boom have the same height relative to the rotating shaft, and the second sub-boom and the fourth sub-boom have the same height relative to the rotating shaft.

11. The drone of claim 1, wherein the first and second horn are at different heights relative to a rotation axis of the drone.

12. The drone of claim 11, wherein a first end of the first horn is provided with a first power assembly and a second end of the second horn is provided with a second power assembly;

the first end is rotatable to adjust the orientation of the first power assembly; the second end is rotatable to adjust the orientation of the second power assembly; or

The first power assembly is rotatable to adjust the orientation of the first power assembly; the second power assembly is rotatable in the orientation of the second power assembly.

13. The drone of claim 1, wherein the plurality of vision sensors includes a first type of vision sensor to sense a surrounding environment of the drone and a second type of vision sensor to capture a panoramic image.

14. The unmanned aerial vehicle of claim 13, wherein the first horn is connected to the second horn through a rotating shaft, two ends of the rotating shaft are respectively provided with one of the second type of vision sensors, at least one end of the first horn is provided with one of the first type of vision sensors, and at least one end of the second horn is provided with one of the first type of vision sensors.

15. The unmanned aerial vehicle of claim 1, wherein the first arm includes first and second opposing faces, the first face provided with a first power component, the second face provided with a first vision sensor, the second arm includes third and fourth opposing faces, the third face provided with a second power component, the fourth face provided with a second vision sensor, the first and second vision sensors oriented differently.

16. A drone according to claim 15, characterised in that at least one extremity of the first horn is provided with one said first visual sensor and at least one extremity of the second horn is provided with one said second visual sensor.

17. The drone of claim 1, further comprising a foot stand structure connected with the first and/or second horn and configured to support the drone when the drone takes off and lands.

18. The drone of claim 17, wherein the foot rest structure includes two first foot rests, each first foot rest being pivotally connected to the first and second arms, at least one of the first and second arms moving the first foot rest to bring the first foot rest from the folded state to the unfolded state when the drone changes from the folded state to the unfolded state.

19. The drone of claim 18, wherein the first foot mount includes a support for supporting the drone when the drone is on and off, the support being at a distance from a shaft of the drone when the drone is in a collapsed state that is less than the support when the drone is in an extended state.

20. The drone of claim 19, wherein the first foot stand further comprises:

a first link rotatably mounted to the first horn; and

a second link rotatably mounted to the second horn; wherein:

the support piece penetrates through the first connecting rod and the second connecting rod, and the first connecting rod and the second connecting rod can rotate relatively to change the size of a third included angle between each other.

21. The drone of claim 20, wherein the third included angle is greater when the drone is in a collapsed state than when the drone is in an expanded state.

22. A drone according to claim 18, characterised in that the supports of the two first foot rests remain symmetrical all the time about the rotation axis of the drone.

23. A drone according to any one of claims 17 to 22, wherein the foot rest structure includes a second foot rest, at least one of the first or second arms being provided with a pair of the second foot rests for supporting the drone when the drone is on and off.

24. A drone according to claim 23, characterised in that the cross-section of the second foot prop decreases in a direction away from the horn, the cross-section of the second foot prop having a bevelled edge located on a side adjacent to the visual sensor of the drone.

25. A drone according to claim 23, wherein the second pair of foot rests are symmetrical about the rotation axis of the drone.

26. The drone of claim 23, wherein the second foot rest is of a cylindrical or conical configuration.

27. The unmanned aerial vehicle of claim 1, wherein an adapter is arranged at a connection position of the first horn and the second horn, and at least one of two ends of the adapter is used for externally connecting a functional module so that the functional module is mechanically and electrically connected with the unmanned aerial vehicle.

28. The drone of claim 27, wherein the functional module comprises any one of a pan-tilt camera, a handheld pan-tilt, or the vision sensor.

29. The unmanned aerial vehicle of claim 1, wherein a receiving portion is arranged at a connection position of the first arm and the second arm, and the receiving portion is used for mechanically and electrically connecting a handheld cloud deck.

30. An unmanned aerial vehicle, comprising:

a first arm;

the second machine arm is connected with the first machine arm and can rotate relative to the first machine arm so that the unmanned aerial vehicle can be switched between a folded state and an unfolded state, when the unmanned aerial vehicle is in the folded state, a first included angle is formed between the first machine arm and the second machine arm, when the unmanned aerial vehicle is in the unfolded state, a second included angle is formed between the first machine arm and the second machine arm, and the first included angle is smaller than the second included angle;

the first arm comprises a first face and a second face which are opposite to each other, the first face is provided with a first power assembly, the second face is provided with a first vision sensor, the second arm comprises a third face and a fourth face which are opposite to each other, the third face is provided with a second power assembly, the fourth face is provided with a second vision sensor, and the orientations of the first vision sensor and the second vision sensor are different.

31. The drone of claim 30, wherein the first horn and the second horn are connected by a shaft about which the first horn and the second horn can rotate relative to each other.

32. The drone of claim 30, wherein the first horn comprises first and second jointed sub-horns, the second horn comprises third and fourth jointed sub-horns, and the first, second, third, and third sub-horns are evenly distributed around a rotation axis of the drone when the drone is in the deployed state.

33. A drone as claimed in claim 32, wherein the first sub-horn is linked with the second sub-horn and the third sub-horn is linked with the fourth sub-horn.

34. The unmanned aerial vehicle of claim 33, wherein the first arm comprises a first body and a first mounting portion, the second arm comprises a second body and a second mounting portion, and two ends of a rotating shaft of the unmanned aerial vehicle are respectively connected with the first mounting portion and the second mounting portion in a rotating manner.

35. An unmanned aerial vehicle as claimed in claim 34, wherein the shaft is integral with the first or second mounting portion.

36. The unmanned aerial vehicle of claim 33, wherein the first arm includes a joint portion, the shaft passes through the joint portion and both ends of the shaft are exposed from both sides of the joint portion; the first sub-arm and the second sub-arm are symmetrically arranged on two sides of the combining part; the third sub-arm is sleeved at one end of the rotating shaft exposed from one side of the combining part; the fourth sub-arm is sleeved at the other end of the rotating shaft exposed from the other side of the combining part.

37. A drone according to claim 36, wherein the first sub-arm rotates relative to the second sub-arm, and the third sub-arm rotates relative to the fourth sub-arm.

38. An unmanned aerial vehicle as claimed in claim 32, wherein the first sub-boom and the second sub-boom have the same height relative to the rotation shaft, the third sub-boom and the fourth sub-boom have the same height relative to the rotation shaft, and the first sub-boom and the third sub-boom have different heights relative to the rotation shaft.

39. An unmanned aerial vehicle as defined in claim 32, wherein the first sub-boom and the second sub-boom have different heights relative to the rotating shaft, the third sub-boom and the fourth sub-boom have different heights relative to the rotating shaft, the first sub-boom and the third sub-boom have the same height relative to the rotating shaft, and the second sub-boom and the fourth sub-boom have the same height relative to the rotating shaft.

40. The drone of claim 30, wherein the first and second booms are at different heights relative to a rotation axis of the drone.

41. An unmanned aerial vehicle as defined in claim 40, wherein a first end of the first horn is provided with a first power assembly and a second end of the second horn is provided with a second power assembly;

42. A drone according to claim 30, wherein the first and/or second vision sensors comprise a first type of vision sensor for perceiving the surroundings of the drone and a second type of vision sensor for taking panoramic images.

43. An unmanned aerial vehicle according to claim 42, wherein the first horn is connected with the second horn through a rotating shaft, two ends of the rotating shaft are respectively provided with one of the second type vision sensors, at least one end of the first horn is provided with one of the second type vision sensors, and at least one end of the second horn is provided with one of the second type vision sensors.

44. The drone of claim 30, further comprising a foot rest structure connected with the first and/or second horn and configured to support the drone when the drone is taking off and landing.

45. A drone according to claim 44, wherein the foot stand structure includes two first foot stands, each first foot stand being pivotally connected to the first and second booms, at least one of the first and second booms moving the first foot stand to bring the first foot stand from the folded to the unfolded state when the drone is changed from the folded to the unfolded state.

46. A drone according to claim 45, wherein the first foot rest includes a support for supporting the drone when it is on and off, the distance from the support to the shaft of the drone being less when the drone is in the collapsed state than when the drone is in the deployed state.

47. The drone of claim 46, wherein the first foot stand further comprises:

a first link rotatably mounted on the first horn; and

a second link rotatably mounted on the second horn; wherein:

48. An unmanned aerial vehicle according to claim 47, wherein the third included angle is greater when the unmanned aerial vehicle is in a folded state than when the unmanned aerial vehicle is in an unfolded state.

49. A drone according to claim 45, wherein the supports of the two first foot rests remain symmetrical all the time about the rotation axis of the drone.

50. A drone as claimed in any one of claims 44 to 49, wherein the foot rest structure includes a second foot rest, at least one of the first or second arms being provided with a pair of the second foot rests for supporting the drone when it is on and off.

51. A drone according to claim 50, characterised in that the cross-section of the second foot prop decreases in a direction away from the horn, the cross-section of the second foot prop having a bevelled edge located on a side adjacent to the visual sensor of the drone.

52. A drone according to claim 50, wherein the second pair of foot rests are symmetrical about the rotation axis of the drone.

53. A drone according to claim 50, wherein the second foot rest is of cylindrical or conical construction.

54. The unmanned aerial vehicle of claim 30, wherein an adapter is arranged at a connection point of the first horn and the second horn, and at least one of two ends of the adapter is used for externally connecting a functional module so that the functional module is mechanically and/or electrically connected with the unmanned aerial vehicle.

55. A drone as claimed in claim 54, wherein the functional module includes any one of a pan-tilt camera, a hand-held pan-tilt, or the vision sensor.

56. The unmanned aerial vehicle of claim 30, wherein a receiving portion is disposed at a connection of the first boom and the second boom, and the receiving portion is mechanically and/or electrically connected with a handheld tripod head.

57. An unmanned aerial vehicle, comprising:

a first arm;

the second machine arm is connected with the first machine arm through a rotating shaft, and two ends of the rotating shaft are provided with vision sensors;

wherein, the second horn can for first horn rotates so that unmanned aerial vehicle switches between fold condition and expansion state, works as when unmanned aerial vehicle is in fold condition, first horn with the second horn is first contained angle, works as when unmanned aerial vehicle is in the expansion state, first horn with the second horn is the second contained angle, first contained angle is less than the second contained angle.

58. An unmanned aerial vehicle as defined in claim 57, wherein the first boom comprises first and second jointed sub-booms, and the second boom comprises third and fourth jointed sub-booms, and the first, second, third and third sub-booms are evenly distributed around a rotation axis of the unmanned aerial vehicle when the unmanned aerial vehicle is in the deployed state.

59. A drone according to claim 58, wherein the first sub-horn is linked to the second sub-horn and the third sub-horn is linked to the fourth sub-horn.

60. The unmanned aerial vehicle of claim 59, wherein the first arm comprises a first body and a first mounting portion, the second arm comprises a second body and a second mounting portion, and two ends of a rotating shaft of the unmanned aerial vehicle are rotatably connected with the first mounting portion and the second mounting portion respectively.

61. An unmanned aerial vehicle as claimed in claim 60, wherein the shaft is integral with the first or second mounting portion.

62. The unmanned aerial vehicle of claim 59, wherein the first arm comprises a joint portion, the shaft penetrates through the joint portion and two ends of the shaft are exposed from two sides of the joint portion; the first sub-arm and the second sub-arm are symmetrically arranged on two sides of the combining part; the third sub-arm is sleeved at one end of the rotating shaft exposed from one side of the combining part; the fourth sub-arm is sleeved at the other end of the rotating shaft exposed from the other side of the combining part.

63. A drone according to claim 59, wherein the first sub-arm rotates relative to the second sub-arm, and the third sub-arm rotates relative to the fourth sub-arm.

64. An unmanned aerial vehicle according to claim 59, wherein the first sub-boom and the second sub-boom are at the same height relative to the rotation shaft, the third sub-boom and the fourth sub-boom are at the same height relative to the rotation shaft, and the first sub-boom and the third sub-boom are at different heights relative to the rotation shaft.

65. An unmanned aerial vehicle according to claim 59, wherein the first sub-boom and the second sub-boom have different heights relative to the shaft, the third sub-boom and the fourth sub-boom have different heights relative to the shaft, the first sub-boom and the third sub-boom have the same height relative to the shaft, and the second sub-boom and the fourth sub-boom have the same height relative to the shaft.

66. A drone as claimed in claim 57, wherein the first and second booms are of different heights relative to the shaft.

67. A drone according to claim 66, wherein the first end of the first horn is provided with a first power assembly and the second end of the second horn is provided with a second power assembly;

68. An unmanned aerial vehicle as defined in claim 57, wherein the first arm includes first and second opposing faces, the first face provided with a first power component, the second face provided with a first vision sensor, the second arm includes third and fourth opposing faces, the third face provided with a second power component, the fourth face provided with a second vision sensor, the first vision sensor of the second face and the second vision sensor of the fourth face being oriented differently.

69. A drone according to claim 68,

the first visual sensor and the second visual sensor are first type visual sensors, and the first type visual sensors are used for sensing the surrounding environment of the unmanned aerial vehicle;

the vision sensors arranged at the two ends of the rotating shaft are second vision sensors, and the second vision sensors are used for shooting panoramic images.

70. A drone according to claim 57, further comprising a foot rest structure connected with the first and/or second arms and adapted to support the drone when it takes off and lands.

71. A drone according to claim 70, wherein the foot rest structure includes two first foot rests, each first foot rest being pivotally connected to the first and second arms, at least one of the first and second arms moving the first foot rest to bring the first foot rest from the folded to the unfolded state when the drone changes from the folded to the unfolded state.

72. The drone of claim 71, wherein the first foot mount includes a support for supporting the drone when the drone is on and off, the support being at a distance from a shaft of the drone when the drone is in a collapsed state that is less than the support when the drone is in an expanded state.

73. A drone as claimed in claim 72, wherein the first foot stand further includes:

a first link rotatably mounted on the first horn; and

a second link rotatably mounted on the second horn; wherein:

74. An unmanned aerial vehicle according to claim 73, wherein the third included angle is greater when the unmanned aerial vehicle is in a folded state than when the unmanned aerial vehicle is in an unfolded state.

75. A drone according to claim 70, wherein the supports of the two first foot rests remain symmetrical all the time about the rotation axis of the drone.

76. A drone as claimed in any one of claims 70 to 75, wherein the foot rest structure includes a second foot rest, at least one of the first or second arms being provided with a pair of the second foot rests for supporting the drone when it is on and off.

77. A drone according to claim 76, wherein the second foot prop has a cross-section that decreases in a direction away from the horn, the cross-section of the second foot prop having a bevelled edge located on a side adjacent to the visual sensor of the drone.

78. A drone according to claim 76, wherein the second pair of foot rests are symmetrical about the rotation axis of the drone.

79. The drone of claim 76, wherein the second foot rest is of a cylindrical or conical construction.

80. An unmanned aerial vehicle as claimed in claim 57, wherein an adaptor is provided at the junction of the first horn and the second horn, at least one of the two ends of the adaptor being used for externally connecting a functional module to mechanically and/or electrically connect the functional module to the unmanned aerial vehicle.

81. A drone according to claim 80, wherein the functional module includes any one of a pan-tilt camera, a hand-held pan-tilt, or the visual sensor.

82. An unmanned aerial vehicle as claimed in claim 57, wherein a receiving portion is provided at a junction of the first and second booms, and the receiving portion is mechanically and/or electrically connected to a handheld tripod head.

83. An unmanned aerial vehicle, comprising:

a first arm;

a second horn connected with the first horn and rotatable relative to the first horn to switch the drone between a folded state and an unfolded state;

the first foot rest is at least partially arranged on the first machine arm and the second machine arm, and when the unmanned aerial vehicle changes from the folded state to the unfolded state, at least one machine arm of the first machine arm and the second machine arm drives the first foot rest to move so that the first foot rest changes from the folded state to the unfolded state.

84. A drone of claim 83, wherein the drone includes two of the first foot stands, each of the first foot stands being pivotally connected to the first and second arms, at least one of the first and second arms moving the first foot stand to cause each of the first foot stands to change from a folded state to an unfolded state when the drone changes from a folded state to an unfolded state.

85. The drone of claim 84, wherein the first foot stand includes a support for supporting the drone when the drone is on and off, the support being at a distance from a shaft of the drone when the drone is in a collapsed state that is less than the support when the drone is in an expanded state.

86. A drone as claimed in claim 85, wherein the first foot stand further includes:

a first link rotatably mounted on the first horn; and

a second link rotatably mounted on the second horn; wherein:

87. A drone according to claim 86, wherein the third included angle is greater when the drone is in the collapsed state than when the drone is in the deployed state.

88. A drone according to claim 84, wherein the supports of the two first foot rests remain symmetrical at all times about the rotation axis of the drone.

89. A drone as claimed in any one of claims 83 to 88, further comprising a second foot rest, at least one of the first or second arms being provided with a pair of the second foot rests for supporting the drone when it is on and off.

90. A drone according to claim 89, wherein the cross-section of the second foot prop decreases in a direction away from the horn, the cross-section of the second foot prop having a bevelled edge located on a side adjacent to the visual sensor of the drone.

91. A drone according to claim 89, wherein the second pair of foot rests are symmetrical about the rotation axis of the drone.

92. A drone according to claim 89, wherein the second foot rest is of a cylindrical or conical construction.

93. An unmanned aerial vehicle as defined in claim 83, wherein the first horn and the second horn are connected by a shaft, and the first horn and the second horn are capable of relative rotation about the shaft.

94. An unmanned aerial vehicle as defined in claim 83, wherein the first boom comprises first and second jointed sub-booms, and the second boom comprises third and fourth jointed sub-booms, and the first, second, third and third sub-booms are evenly distributed around a rotation axis of the unmanned aerial vehicle when the unmanned aerial vehicle is in the deployed state.

95. A drone according to claim 94, wherein the first sub-horn is linked with the second sub-horn, and the third sub-horn is linked with the fourth sub-horn.

96. The unmanned aerial vehicle of claim 95, wherein the first arm comprises a first body and a first mounting portion, the second arm comprises a second body and a second mounting portion, and two ends of a rotating shaft of the unmanned aerial vehicle are respectively rotatably connected with the first mounting portion and the second mounting portion.

97. An unmanned aerial vehicle according to claim 96, wherein the shaft is integral with the first or second mounting portions.

98. The unmanned aerial vehicle of claim 95, wherein the first arm includes a joint portion, the shaft extends through the joint portion and two ends of the shaft are exposed from two sides of the joint portion; the first sub-arm and the second sub-arm are symmetrically arranged on two sides of the combining part; the third sub-arm is sleeved at one end of the rotating shaft exposed from one side of the combining part; the fourth sub-arm is sleeved at the other end of the rotating shaft exposed from the other side of the combining part.

99. A drone according to claim 94, wherein the first sub-arm rotates relative to the second sub-arm, and the third sub-arm rotates relative to the fourth sub-arm.

100. An unmanned aerial vehicle according to claim 94, wherein the first sub-boom and the second sub-boom are at the same height relative to the rotation shaft, the third sub-boom and the fourth sub-boom are at the same height relative to the rotation shaft, and the first sub-boom and the third sub-boom are at different heights relative to the rotation shaft.

101. An unmanned aerial vehicle as defined in claim 94, wherein the first sub-boom and the second sub-boom have different heights relative to the rotation axis, the third sub-boom and the fourth sub-boom have different heights relative to the rotation axis, the first sub-boom and the fourth sub-boom have the same height relative to the rotation axis, and the second sub-boom and the third sub-boom have the same height relative to the rotation axis.

102. A drone according to claim 83, wherein the first and second arms are of different heights relative to the rotation axis of the drone.

103. A drone according to claim 102, wherein the first end of the first horn is provided with a first power assembly and the second end of the second horn is provided with a second power assembly;

104. An unmanned aerial vehicle as claimed in claim 83, wherein the unmanned aerial vehicle further comprises a plurality of vision sensors, the vision sensors are respectively disposed on the first and second arms, the vision sensors comprise a first type of vision sensor and a second type of vision sensor, the first type of vision sensor is used for sensing the surrounding environment of the unmanned aerial vehicle, and the second type of vision sensor is used for shooting panoramic images.

105. An unmanned aerial vehicle according to claim 104, wherein the first horn and the second horn are connected via a shaft, one of the second type of vision sensor is provided at each of two ends of the shaft, one of the second type of vision sensor is provided at least one end of the first horn, and one of the second type of vision sensor is provided at least one end of the second horn.

106. An unmanned aerial vehicle as claimed in claim 83, wherein the first arm includes first and second opposing faces, the first face is provided with a first power component, the second face is provided with a first vision sensor, the second arm includes third and fourth opposing faces, the third face is provided with a second power component, the fourth face is provided with a second vision sensor, and the first and second vision sensors are oriented in different directions.

107. A drone as claimed in claim 106, wherein at least one end of the first horn is provided with one of the first vision sensors and at least one end of the second horn is provided with one of the second vision sensors.

108. An unmanned aerial vehicle as claimed in claim 83, wherein an adaptor is provided at the junction of the first horn and the second horn, at least one of the two ends of the adaptor being used for externally connecting a functional module to mechanically and/or electrically connect the functional module to the unmanned aerial vehicle.

109. A drone as claimed in claim 108, wherein the functional module includes any one of a pan-tilt camera, a hand-held pan-tilt, or the vision sensor.

110. An unmanned aerial vehicle as claimed in claim 83, wherein a receiving portion is provided at a junction of the first and second booms, and the receiving portion is mechanically and/or electrically connected to a handheld tripod head.

111. An unmanned aerial vehicle, characterized in that, unmanned aerial vehicle can switch between fold condition and expansion state, unmanned aerial vehicle includes:

a first boom comprising two sub-booms;

a second horn comprising two sub-horns;

wherein two of the sub-horn are located at a same first height, and the other two sub-horns are located at a same second height, the first height being different from the second height;

when the drone is in a folded state, the first horn and the second horn at least partially overlap; when unmanned aerial vehicle switches from fold condition to the state of expanding, the contained angle that is located between the sub-aircraft arm of same height switches to the second contained angle from first contained angle.

112. A drone according to claim 111, wherein the first horn includes first and second jointed sub-horns, the second horn includes third and fourth jointed sub-horns, the first and second sub-horns being located at the first height, the third and fourth sub-horns being located at the second height.

113. An unmanned aerial vehicle as claimed in claim 112, wherein the unmanned aerial vehicle comprises a rotating shaft, the first horn is connected with the second horn through the rotating shaft, the first horn comprises a first body and a first installation part, the second horn comprises a second body and a second installation part, and two ends of the rotating shaft are respectively connected with the first installation part and the second installation part in a rotating manner.

114. An unmanned aerial vehicle as claimed in claim 112, wherein the first arm comprises first and second opposing faces, the first face being provided with a first power component, the second face being provided with a first vision sensor, the second arm comprising third and fourth opposing faces, the third face being provided with a second power component, the fourth face being provided with a second vision sensor, the first and second vision sensors being oriented differently.

115. A drone as claimed in claim 114, wherein at least one end of the first horn is provided with one of the first vision sensors and at least one end of the second horn is provided with one of the second vision sensors.

116. A drone of claim 111, wherein the first boom includes first and second jointed sub-booms, the second boom includes third and fourth jointed sub-booms, the first and fourth sub-booms are located at the first elevation, and the second and third sub-booms are located at the second elevation.

117. An unmanned aerial vehicle according to claim 116, wherein the unmanned aerial vehicle comprises a rotating shaft, the first arm and the second arm are connected via the rotating shaft, the first arm comprises a joint portion, the rotating shaft penetrates through the joint portion, and two ends of the rotating shaft are exposed from two sides of the joint portion; the first sub-arm and the second sub-arm are symmetrically arranged on two sides of the combining part; the third sub-arm is sleeved at one end of the rotating shaft exposed from one side of the combining part; the fourth sub-arm is sleeved at the other end of the rotating shaft exposed from the other side of the combining part.

118. An unmanned aerial vehicle according to claim 116, wherein the first sub-boom comprises first and second opposing faces, the first face of the first sub-boom being provided with a first power assembly, the second face of the first sub-boom being provided with a first vision sensor, the fourth boom comprising first and second opposing faces, the first face of the fourth sub-boom being provided with a first power assembly, the second face of the fourth sub-boom being provided with a first vision sensor;

the third sub-arm comprises a third surface and a fourth surface which are opposite to each other, the third surface of the third sub-arm is provided with a second power assembly, the fourth surface of the third sub-arm is provided with a second vision sensor, the second sub-arm comprises a third surface and a fourth surface which are opposite to each other, the third surface of the second sub-arm is provided with a second power assembly, and the fourth surface of the second sub-arm is provided with a second vision sensor; the first and second vision sensors are oriented differently.