WO2016155250A1

WO2016155250A1 - Unmanned aerial vehicle system, unmanned aerial vehicle and control method of unmanned aerial vehicle

Info

Publication number: WO2016155250A1
Application number: PCT/CN2015/089615
Authority: WO
Inventors: 张显志
Original assignee: 深圳一电科技有限公司; 深圳一电航空技术有限公司
Priority date: 2015-03-31
Filing date: 2015-09-15
Publication date: 2016-10-06
Also published as: CN104787307A; CN104787307B

Abstract

Disclosed is an unmanned aerial vehicle system, comprising an unmanned aerial vehicle which includes a foldable first landing gear (120). The unmanned aerial vehicle system further comprises a second landing gear adapted to the unmanned aerial vehicle. When the first landing gear is folded, the second landing gear is used for supporting the unmanned aerial vehicle in a takeoff phase to enable the unmanned aerial vehicle to keep a predetermined distance from a takeoff surface, and is separated from the unmanned aerial vehicle after same took off. Further disclosed are an unmanned aerial vehicle and a control method of the unmanned aerial vehicle. When the unmanned aerial vehicle is ready to take off, the first landing gear is folded and kept in a folded state so as to prevent a load below the unmanned aerial vehicle from being blocked, and at the same time, the unmanned aerial vehicle is supported by the second landing gear; and when the unmanned aerial vehicle is landing, the self-locking of the first landing gear is released to rotate the first landing gear from the folded state to an unfolded state so as to support the unmanned aerial vehicle. Therefore, the structure of the unmanned aerial vehicle is greatly simplified and the unmanned aerial vehicle has characteristics such as low costs, light overall weight and high reliability.

Description

UAV system, drone and control method of the same

Technical field

The present invention relates to the field of aircraft technology, and in particular, to a drone system, a drone, and a control method of the drone system.

Background technique

In the prior art, the landing gear of the drone is mostly fixed. When the drone is carrying a load (such as a camera, a camera, etc.) to perform a cruising task, since the landing gear and the load are both at the bottom of the fuselage, the landing gear will Blocking the load, especially when the load is a camera or camera with a wide-angle lens, the presence of the landing gear will result in a small shooting range, and the flight attitude of the drone needs to be adjusted frequently to meet the aerial photography requirements, which not only increases the difficulty of flight control, but also reflects The speed is slow, which is not conducive to aerial photography.

Summary of the invention

The main object of the present invention is to provide an unmanned aerial vehicle system, which aims to solve the technical problem that the existing drone landing gear is easy to block the load.

To achieve the above object, the present invention provides a drone system including a foldable first landing gear, the drone system further including a second landing gear adapted to the drone, When the first landing gear is in a folded state, the second landing gear is used to provide support for the drone in the take-off phase to maintain a preset distance between the drone and the take-off surface, and The drone is separated from the drone after taking off.

Preferably, the locking device comprises a first electronic control device, the first electronic control device having a first expansion and contraction that can be extended and retracted upon receiving an electrical signal and corresponding to the position of the first landing gear And extending or abutting the first landing gear when the first telescopic portion is in an extended state to maintain the first landing gear in a folded state in a folded state; when the first telescopic portion is in a retracted state, Separating the first landing gear to release the first landing gear in a folded state; or the locking device includes a first electromagnetic device having a magnetic force that can be generated by an electrical signal and The first electromagnetic device further includes a magnetic portion provided on the first landing gear corresponding to the position of the adsorption portion, and the magnetic portion is configured to be magnetic when the adsorption portion is formed The portion is adsorbed to maintain the first landing gear in a folded state in a folded state; the magnetic portion is released when the adsorption portion eliminates a magnetic force to release the first landing gear in a folded state.

Preferably, the positioning device comprises a motor, an output shaft of the motor is coupled to a rotating shaft of the first landing gear, and an output shaft of the motor is rotated by a preset angle and then self-locked to maintain the first landing gear in an unfolded state. Expanded state

Alternatively, the positioning device includes a rotary cylinder, an output shaft of the rotary cylinder is coupled to a rotating shaft of the first landing gear, and the first landing gear in an unfolded state is maintained in an unfolded state after the rotary cylinder is actuated;

Still further, the positioning device further includes a gas rod, one end of the gas rod is connected to the body, and the other end is connected to a portion of the first landing gear away from the axis of rotation thereof, and the gas rod is in an unfolded state when it is extended. The first landing gear of the state remains in the unfolded state.

Preferably, the positioning device includes a stopping portion disposed on the body and corresponding to the position of the first landing gear, the positioning device further includes a torsion spring, and the two connecting ends of the torsion spring respectively correspond to the body Corresponding to the first landing gear corresponding to the body, the elastic restoring force of the torsion spring to the first landing gear and the force of the stopping portion to the first landing gear are respectively located on opposite sides of the first landing gear To keep the first landing gear in an unfolded state in an unfolded state.

Preferably, the positioning device includes a stopping portion disposed on the body and corresponding to a position of the first landing gear, the positioning device having a minimum at least when the first landing gear is in an unfolded state a second telescopic portion that is offset by the falling frame, a force of the second telescopic portion on the first landing gear and a force acting on the first landing gear of the stopping portion are respectively located on opposite sides of the first landing gear To keep the first landing gear in an unfolded state in an unfolded state.

Preferably, the positioning device comprises a second electronic control device, the second telescopic portion can be extended and retracted under the action of an electrical signal of the second electronic control device, and the second telescopic portion is extended The first landing gear is abutted in a state; or the positioning device includes an elastic returning member, and the second telescopic portion protrudes under the action of the elastic returning member and abuts against the first landing gear.

Preferably, the first landing gear rotates relative to the body under its own weight to rotate from the folded state to the deployed state.

Preferably, the first landing gear is in a folded state on a surface of the paddle arm of the body;

Or the paddle arm is provided with a receiving slot, and the first landing gear is located in the receiving slot when in the folded state;

Or, when the first landing gear is in a folded state, two adjacent first landing gears are arranged in parallel or in a "one" shape, and the locking device is disposed in two adjacent first landing gears. The two first landing gears are locked to each other.

Preferably, the drone further includes detecting means for detecting whether the first landing gear is rotated from a folded state to a preset unfolded state.

Further, in order to achieve the above object, the present invention provides a drone, which is the drone described in any one of the above aspects.

In addition, in order to achieve the above object, the present invention also provides a control method of a drone system, the control method comprising the steps of: providing a second landing gear placed on a take-off surface, the second landing gear being used to give The drone with the first drop frame in the folded state provides support to maintain a preset spacing between the drone and the take-off surface; and whether the drone in flight state receives the trigger to enter the landing mode And if so, controlling the first landing gear to expand from the folded state to a preset expanded state.

The utility model provides an unmanned aerial vehicle system, which adopts two sets of separately arranged landing gears, wherein the first landing gear is a foldable structure and is arranged on the drone, and the folding action is manually completed and self-locking in the folded state. The two landing gears are placed on the take-off surface, independent of the drone and provide support for the drone in the take-off phase, so that the drone is kept at a preset distance from the takeoff surface; when the drone is ready to take off, The first landing frame is folded and folded and kept in a folded state to avoid blocking the load located under the drone, while supporting the drone through the second landing gear; when the drone is ready to land, the first landing gear is self-contained The lock is released to rotate the first landing gear from the folded state to the unfolded state, thereby providing support for the drone, thereby greatly simplifying the structure of the drone, and having the characteristics of low cost, overall light weight and high reliability.

DRAWINGS

1 is an assembled view of a portion of a structure of a first embodiment of the drone of the present invention, wherein the first landing gear is in a folded state;

2 is a schematic assembly view of a partial structure of a first embodiment of the drone of the present invention, wherein the first landing gear is in an unfolded state;

Figure 3 is similar to Figure 2, in which the positioning device is decomposed;

Figure 4 is a schematic structural view of the positioning member shown in Figure 3;

Figure 5 is a partial enlarged view of a portion A shown in Figure 3;

Figure 6 is a schematic view showing the assembly of a part of the structure of the second embodiment of the drone of the present invention, wherein the first landing gear is in a folded state;

Figure 7 is a schematic view showing the assembly of a part of the structure of the second embodiment of the drone of the present invention, wherein the first landing gear is in an unfolded state;

FIG. 8 is a schematic flow chart of an embodiment of a control method of a drone system according to the present invention.

The implementation, functional features and advantages of the objects of the present invention will be further described in conjunction with the embodiments.

detailed description

It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The present invention provides a drone system. Referring to FIG. 1 and FIG. 2, in an embodiment, the drone system includes a drone, wherein the drone of the embodiment is a rotary wing helicopter, and the drone The foldable first landing gear 120 is included. The first landing gear 120 mainly provides support to the drone when the drone is landing, and has a buffering effect. In addition, the UAV system further includes a second landing gear (not shown) adapted to the drone, and the second landing gear is used to provide support for the drone in the take-off phase, so that the drone and the take-off The preset distance is maintained between the faces and separated from the drone after the drone takes off. Obviously, the second landing gear is independent of the drone, which may be a pedestal that can be stably placed on the take-off surface, or a bracket that can be stably placed on the take-off surface, and when the drone is placed in the second When landing on the shelf, it should be ensured that the relevant loads (such as cameras, cameras, etc.) installed on the drone will not touch the takeoff surface.

It can be understood that when the first landing gear 120 is in the unfolded state, the drone can also be used in the take-off phase, but in order to prevent the first landing gear 120 from blocking the load during the flight phase of the drone, and also used for taking off. The first landing gear 120 also has an automatic folding function.

In a specific application, the folding operation of the first landing gear 120 is manually completed, and the first landing gear 120 can be self-locking in a folded state, and the second landing gear is placed on the take-off surface, independent of the drone and given to the take-off stage. The man-machine provides support to maintain a preset distance between the drone and the take-off surface; when the drone is ready to take off, the first landing gear 120 is folded and folded and kept in a folded state to avoid being located under the drone The load is blocked, and the drone is supported by the second landing gear; when the drone is ready to land, the self-locking of the first landing gear 120 is released, so that the first landing gear 120 is rotated from the folded state to the deployed state. Provide support for drones. By adopting two sets of separately arranged landing gears, the support for the drones in the take-off and landing phases is realized, and the purpose of simplifying the structure is achieved by decomposing the integrated functions of the existing drones, which has low cost and overall Light weight and high reliability.

In an alternative embodiment, the drone includes a body 100, and the body 100 constitutes a main body portion of the drone, including both a body serving as a load-bearing structure, an electronic control component and a power component, and the like, and the body includes a plurality of surrounding bodies. The circumferentially disposed paddle arm 110, the power assembly is mounted on the paddle arm 110. For the purpose of weight reduction, the housing constituting the exterior portion of the body is generally made of a carbon fiber material, and is presented in any suitable appearance shape, but constructed. The streamlined structure is advantageous for reducing flight resistance, and the paddle arm 110 can also be made of carbon fiber material and integrally formed with the casing to make the strength and rigidity higher; the power component includes the motor and the blade mounted on the output shaft of the motor. The motor is mounted on the paddle arm 110, such as the end of the paddle arm 110 away from the fuselage (ie, the end of the paddle arm 110), and the blade is rotated by the motor to generate lift; the first landing gear 120 is rotatably coupled to the body 100, Adjusting the connection position of the first landing gear 120 according to the structural form of the first landing gear 120 and its relative positional relationship with the load, such as the connection position on the fuselage, and The connection position is located on the paddle arm 110. It is obvious that the connection position of the first landing gear 120 can be flexibly selected in practical applications, so that the first landing gear 120 does not interfere with other components during folding and unfolding, and is not in the folded state. Blocks the load. Taking the first landing gear 120 disposed on the paddle arm 110 as an example, considering that the paddle arm 110 is a cantilever structure that is single-ended to the body 100, in order to ensure that the paddle arm 110 provides a firm support to the first landing gear 120 while avoiding damage to the paddle arm 110, the hinge position of the first landing gear 120 and the paddle arm 110 can be close to the fuselage, and the hinge structure between the first landing gear 120 and the paddle arm 110 has various embodiments, such as the articulated support on the paddle arm 110. The first landing gear 120 is rotatably coupled to the hinged support by a pivot. According to the description of the embodiment, it is apparent to those skilled in the art that the hinge structure between the two can be based on the actual structure of the paddle arm 110 and the first landing gear 120. As an example, the first landing gear 120 is in the shape of a straight rod. Of course, the first landing gear 120 may have any other suitable shape to ensure that it does not block the load located under the body 100 in the folded state. Moreover, the unmanned aerial vehicle can be stably supported in the unfolded state, which is not limited by the present invention.

In this embodiment, the first landing gear 120 has a plurality of arrangements. As shown in FIG. 1 and FIG. 2, the first landing gear 120 is located on the surface of the body 100 when in the folded state, and specifically overlaps the surface of the paddle arm 110. In order to reduce the flight resistance caused by the first landing gear 120, the paddle arm 110 is provided with a receiving groove 111 adapted to the shape of the first landing gear 120 and accommodating at least a portion of the first landing gear 120, with the structure of the paddle arm 110 allowed. The receiving groove 111 can be deepened so that the first landing gear 120 can be completely embedded in the receiving groove 111. Of course, if the structure of the paddle arm 110 does not allow the accommodating groove 111 to be provided, only the first landing gear 120 can be attached to the surface of the paddle arm 110 when the first landing gear 120 is in the folded state, or the first landing gear 120 is in the folded state and the paddle arm. The surface of 110 is kept at a certain distance.

As shown in FIG. 6 and FIG. 7 , when the first landing gear 120 is in the folded state, the adjacent two first landing gears 120 are arranged in parallel or in a “one” shape, and are arranged in a “one” shape as an example, adjacent to each other. The two first landing gears 120 are relatively open when rotated from the folded state to the deployed state, and are relatively closed when rotated from the expanded state to the folded state, and in the folded state, the ends of the adjacent two first landing gears 120 can be aligned, The first arrangement can reduce the space where the first landing gear 120 occupies the corresponding position of the paddle arm 110, and the other components are arranged on the paddle arm 110, and the end portions of the adjacent two first landing gears 120 are stacked. Together, the stability of the first lift 120 can be improved, and the vibration caused by the air flow can be reduced. In addition, the first landing gear 120 of the present invention may be arranged in any other suitable form, which is not enumerated here.

In addition, the body 100 is provided with a locking device (not shown) for positioning the first landing gear 120 in a folded state and a positioning device for holding the first landing gear 120 in an unfolded state, wherein the locking device and the positioning device are The specific position is adapted to the arrangement of the first landing gear 120, such as on the fuselage or paddle arm 110. It should be noted that, since the first landing gear 120 can rotate relative to the body 100 under its own gravity to rotate from the folded state to the deployed state, the driving device for providing the force for the rotation of the first landing gear 120 can be saved. The first landing gear 120 can be locked in the unfolded state by the positioning device, which greatly simplifies the structural design of the drone and reduces the weight of the drone.

Wherein the locking device is controlled by the drone, and after the drone takes off, the first landing gear 120 is reliably maintained in the folded state by triggering the locking device to work in the locked state; when the drone is ready to land, the drone passes The triggering locking device releases the locking state to release the first landing gear 120, and the first landing gear 120 is rotated to the deployed state. In practical applications, the trigger condition for changing the working state of the locking device may be a low battery warning, a landing command, or the like. Since the drone is only equipped with the function of deploying the first landing gear 120, the structure is greatly simplified, the weight of the drone is reduced, and the reliability of the drone is improved. It should be noted that the following embodiments are all described in detail in which the first landing gear 120 is disposed on the paddle arm 110.

Since one end of the first landing gear 120 is hingedly fixed to the paddle arm 110, a certain amount of force is applied to the first landing gear 120 away from the axis of rotation thereof, so that the first landing gear 120 can be self-locked and kept in a folded state. Moreover, the force applied by the locking device to the first landing gear 120 can be achieved by a contact fit or by a non-contact fit, wherein the specific embodiment of the locking device is described below.

In an embodiment thereof, the locking device includes a first electronic control device having a first telescopic extension that can be extended and retracted upon receiving an electrical signal and corresponding to the position of the first landing gear 120. And extending or abutting the first landing gear 120 when the first telescopic portion is in the extended state to maintain the first landing gear 120 in the folded state in the folded state; when the first telescopic portion is in the retracted state and the first The drop frame 120 is separated to release the first landing gear 120 in a folded state. For example, the first electronic control device is an electromagnet, and the electromagnet is electrically connected to the battery disposed in the body 100 and is controlled by the controller. Specifically, the first telescopic portion is a core rod that is inserted into the electromagnet and can be extended and retracted by the electromagnetic force. For example, the paddle arm 110 of the embodiment is a hollow structure, and the electromagnet is preferably mounted on the electromagnet. In the paddle arm 110, correspondingly, the paddle arm 110 is provided with a through hole for the core rod of the power supply magnet to enter and exit the paddle arm 110. In a specific application, the core rod of the electromagnet forms a limit fit with the first landing gear 120 in various ways, such as extending below the first landing gear 120 and abutting the first landing gear 120 against the side of the paddle arm 110; For example, the first landing gear 120 is convexly provided with a convex portion with a socket, and the electromagnet and the core rod are located in the paddle arm 110. The paddle arm 110 is provided with a through hole corresponding to the convex portion of the first landing gear 120 for the The convex portion is inserted into the paddle arm 110 when the first landing gear 120 is in a folded state, and the core rod of the electromagnet is inserted into the insertion hole of the convex portion to lock the first landing gear 120.

For another example, the first electronic control device is a linear cylinder, and the first telescopic portion is a piston rod of the linear cylinder. When the piston rod is in the extended state, the first landing gear 120 in the folded state is extended or abutted to be in a folded state. The first drop frame 120 remains in the folded state; instead, the piston rod is in the retracted state away from the first landing gear 120 to release the first landing gear 120 in the folded state. Linear cylinders have higher strength than the above electromagnets.

In another embodiment, the locking device includes a first electromagnetic device having a suction portion that generates a magnetic force under the action of an electrical signal and corresponds to a position of the first landing gear 120, the first electromagnetic device further The magnetic portion provided on the first landing gear 120 corresponding to the position of the adsorption portion is configured to adsorb the magnetic portion when the adsorption portion is formed with a magnetic force to maintain the first landing gear 120 in a folded state in a folded state; When the magnetic force is removed, the magnetic portion is released to release the first landing gear 120 in the folded state. For example, the first electromagnetic device is an electromagnet. Unlike the electromagnet with the movable core rod in the above embodiment, the electromagnet of the present embodiment performs the locking and releasing operations by the magnetic force. That is, the locking device of the present embodiment achieves the locking of the first landing gear 120 by the non-contact electromagnetic force, thereby further simplifying the structure. In a specific application, the electromagnet may be installed inside or outside the paddle arm 110, and when the electromagnet is installed inside the paddle arm 110, the electromagnet may be completely hidden in the paddle arm 110, or may be partially exposed to the paddle. Outside the arm 110, the magnetic portion may be formed of an iron piece attached to the first landing gear 120, or may of course be formed of an iron piece integrally embedded in the first landing gear 120. When the electromagnet is energized, the first landing gear 120 in the folded state can be sucked by generating a strong magnetic field to keep the first landing gear 120 in a folded state; when the electromagnet is de-energized, the magnetic field can be eliminated to be folded. The first landing gear 120 of the state is released. It is worth mentioning that in order to ensure the reliability of electromagnetic attraction between the electromagnet and the first landing gear 120, and to reduce the supply current to save electrical energy, the suction position between the electromagnet and the first landing gear 120 should be Far from the axis of rotation of the first landing gear 120, such as near the end of the first landing gear 120.

In other embodiments, the locking device is also presented in any other suitable form for achieving the purpose of limiting the movement of the first landing gear 120 by forming a contact fit or a non-contact fit with the first landing gear 120, such as the locking device including the motor and the receiving device. The motor-controlled moving component, which is selectable in a linear or rotational motion, forms a contact fit with the first landing gear 120 to limit movement of the first landing gear 120.

While the embodiment of the positioning device is exemplified below, it should not be construed as limiting the alternative embodiments of the positioning device.

In one embodiment, the positioning device includes a torsion spring, and the two connecting ends of the torsion spring respectively abut the paddle arm 110 and the first landing gear 120 corresponding to the paddle arm 110, and the paddle arm 110 is disposed on the position corresponding to the first landing gear 120. As shown in FIG. 1 , the stop portion may be formed by the side wall 113 of the accommodating groove 111 , and may of course be constituted by a structure such as a bump or a rib protruding from the paddle arm 110 . The stop limits the travel of the first landing gear 120 when it is rotated from the folded state to the deployed state. In this embodiment, on the one hand, the first landing gear 120 in the folded state can be rotated to the unfolded state by the elastic restoring force generated by the torsion spring, and on the other hand, when the first landing gear 120 is rotated to the position opposite to the stop portion, the twisting is performed. The elastic restoring force of the spring to the first landing gear 120 and the force of the stopping portion to the first landing gear 120 are respectively located on opposite sides of the first landing gear 120 to maintain the first landing gear 120 in the deployed state in the deployed state. For example, the torsion spring has a wound body that is sleeved on the pivot between the paddle arm 110 and the first landing gear 120, and the main body of the torsion spring as the first landing gear 120 is rotated from the unfolded state to the folded state. The first landing gear 120 is continuously powered by the manual completion of the folding action, and the torsion spring remains in a compressed state after the first landing gear 120 is deployed in position, thereby securely positioning the first landing gear 120. Therefore, the positioning device is a torsion spring, which greatly simplifies the structure of the drone, has the advantages of low cost and light weight, and the positioning device of this type can also realize the driving function and improve the utilization of the structure.

Alternatively, the positioning device has a second telescoping portion that abuts the first landing gear 120 at least when the first landing gear 120 is in the deployed state, the force of the second telescoping portion on the first landing gear 120 and the stopping portion on the first landing gear 120. The forces are respectively located on opposite sides of the first landing gear 120 to maintain the first landing gear 120 in the deployed state in the deployed state.

Specifically, the positioning device includes a second electronic control device, and the second telescopic portion can be extended and retracted under the action of the electrical signal of the second electronic control device (similar to the working principle of the first electronic control device). When the second telescopic portion is in the extended state, the first landing gear 120 is abutted, the combined landing portion positions the first landing gear 120 in the unfolded state; when the second telescopic portion is in the retracted state, the first landing gear 120 is removed to The drop frame 120 is released and then the first landing gear 120 is folded by hand.

For example, the second electronic control device is an electromagnet with a movable core rod, and the second telescopic portion is a core rod of the electromagnet, and the core rod is extended and retracted by changing an input electric signal of the electromagnet, thereby The landing gear 120 is offset or separated.

For another example, the second electronic control device is an electromagnet that is magnetically attracted, and the second telescopic portion can be coupled with the electromagnetic force of the electromagnet, for example, by repulsing and attracting the second telescopic portion and the electromagnet to change the second telescopic portion. In the moving direction, the second telescopic portion protrudes out of the paddle arm 110 by the electromagnetic force and abuts against the side wall of the first landing gear 120. In addition, the second electronic control device may also be a linear cylinder by which the first landing gear 120 is abutted by the piston rod of the linear cylinder to maintain the first landing gear 120 in an unfolded state.

Referring to FIG. 3, another embodiment of the positioning device is illustrated. The positioning device 130 includes a positioning member 131 and an elastic returning member 132. The paddle arm 110 is opened to correspond to the position of the positioning member 131 and the positioning member 131 is inserted into the paddle. The through hole of the arm 110 restricts the stroke when the first landing gear 120 is rotated from the folded state to the unfolded state by the stopping portion, and the positioning member 131 and the stopping portion are respectively located on opposite sides of the first landing gear 120. When the first landing gear 120 is rotated to the unfolded state, the positioning member 131 protrudes out of the paddle arm 110 under the driving of the elastic returning member 132 and abuts against the side of the first landing gear 120 facing away from the stopping portion, and passes through the positioning member 131. The first landing gear 120 is held in the unfolded state by the stopper, and the first landing gear 120 is stably blocked in the expanded state since it is blocked in both the forward and reverse directions.

More specifically, the elastic returning member 132 is a cylindrical spring or a torsion spring disposed between the paddle arm 110 and the positioning member 131. The positioning member 131 is extended by the elastic restoring force and protrudes out of the paddle arm 110 and abuts on the first The positioning member 131 and the paddle arm 110 are held in an abutting state together with the side wall of the drop frame 120. When the first landing gear 120 is rotated from the unfolded state to the folded state, the positioning member 131 compresses the elastic returning member under the pressing of the first landing gear 120. 132 and gradually retracted into the paddle arm 110 to avoid the movement of the first landing gear 120; when the locking device releases the first landing gear 120 in the folded state, the positioning member 131 is rotated from the folded state to the first landing gear 120 The extended state gradually extends until it is substantially parallel with the first landing gear 120, thereby forming a barrier to the reverse rotation of the first landing gear 120. It is worth mentioning that the positioning member 131 of the present embodiment can also serve as a driving device for driving the first landing gear 120 to rotate from the folded state to the unfolded state, thereby further simplifying the structure.

4 and FIG. 5, in a preferred embodiment, the positioning member 131 includes a body 1311 that can protrude out of the paddle arm 110 and abuts against the first landing gear 120, and a limiting portion 1312 at one end of the body 1311. The stopper portion 1312 is formed with an outer edge that protrudes from the peripheral side of the body 1311. Corresponding to the structure of the positioning member 131, the paddle arm 110 is a hollow structure. The inner wall of the paddle arm 110 is provided with a mounting seat 112. The mounting seat 112 is provided with a mounting hole 1121 extending through the paddle arm 110. The mounting hole 1121 is a stepped hole. The larger opening portion is slidably engaged with the limiting portion 1312, and the smaller opening portion is slidably engaged with the body 1311, and the positioning device 130 further includes a cover plate that is coupled to the mounting seat 112 to encapsulate the positioning member 131 in the mounting hole 1121. 133, the cover plate 133 is fixedly connected to the mounting seat 112 by screws, and the elastic returning member 132 is elastically compressed between the limiting portion 1312 and the cover plate 133, thereby causing the positioning member 131 to protrude from the mounting hole 1121. Sports trends.

Further, the elastic returning member 132 is a cylindrical spring. In order to facilitate the mounting and fixing, the elastic returning member 132 is prevented from being misaligned when subjected to reciprocating compression. The limiting portion 1312 is provided with a stud 1314 extending toward the cover plate 133, and the elastic returning member 132 is One end is sleeved on the stud 1314 to remain stable. Similarly, the cover plate 133 may also be provided with a stud (not shown) extending toward the limiting portion 1312. The other end of the elastic returning member 132 is also sleeved on the stud of the cover plate 133.

Further, in order to ensure the smoothness of the reciprocating motion of the positioning member 131, the positioning member 131 further includes guiding blocks 1313 disposed on opposite sides thereof, and opposite sides of the mounting holes 1121 are also provided with a sliding fit with the guiding block 1313. The slot 1122, combined with the positioning engagement of the guiding block 131 and the guiding slot 1122, improves the stability of the positioning member 131 during the movement.

In another embodiment, the positioning device includes a motor, and the output shaft of the motor is coupled to the rotating shaft of the first landing gear 120 (the rotating shaft and the first landing gear 120 should be understood as a unitary structure here) when the locking device is in a folded state. After the first landing gear 120 is released, the first landing gear 120 is rotated from the folded state to the deployed state under the driving of the motor. In order to ensure that the first landing gear 120 can be stably maintained in the unfolded state, the motor has self-powered state and power-off state. The lock function thereby restricts the rotation of the first landing gear 120 to maintain the first landing gear 120 in the deployed state in the deployed state. In addition, in a modified embodiment, the output shaft of the motor is coupled to the rotating shaft of the first landing gear 120 through a transmission member, which may be a coupling or a gear set composed of a driving gear and a driven gear, or Any other suitable transmission structure will not be listed here.

In another embodiment, the positioning device includes a rotary cylinder, and the first landing gear 120 is driven to rotate to the unfolded state by the rotary cylinder and is maintained in the unfolded state. The positioning manner can be referred to the detailed description of the motor, and details are not described herein.

In still another embodiment, the positioning device includes a gas rod, one end of which is connected to the paddle arm 110, and the other end is connected to a portion of the first landing gear 120 away from the axis of rotation thereof, such as the gas rod is connected to the middle of the first landing gear 120, When the locking device releases the first landing gear 120 in the folded state, the piston rod of the air rod automatically extends to drive the first landing gear 120 to rotate to the deployed state. In order to provide space utilization and reduce the flight resistance of the drone, the bottom surface of the paddle arm 110 is recessed inwardly to form a groove for accommodating the gas rod. For example, the cross section of the paddle arm 110 is "concave" in shape when no one is present. When the aircraft is deployed in flight, the paddle arm 110 of this structure also has better aerodynamic performance, which functions to stabilize the drone and reduce flight resistance.

Based on the above embodiment, the drone further includes a detecting device (not shown) disposed on the paddle arm 110 for detecting whether the first landing gear 120 is rotated from the folded state to the unfolded state, and the detecting device may be a photoelectric switch. It can also be a proximity switch. When the drone is ready to land, the control of the drone is adjusted by determining whether the first landing gear 120 is deployed in position, such as when the first landing gear 120 cannot be deployed into position, an advance placement of the forced landing may be selected to reduce the loss.

According to the technical solution of the embodiment of the present invention, by adopting two sets of separately disposed landing gears, wherein the first landing gear is a foldable structure and is disposed on the drone, the folding operation is manually completed and self-locking in the folded state, and the second landing gear Placed on the take-off surface, independent of the drone and providing support to the drone in the take-off phase to maintain a preset distance between the drone and the takeoff surface; when the drone is ready to take off, the first landing gear Folding and folding in a folded state to avoid blocking the load under the drone while supporting the drone through the second landing gear; when the drone is ready to land, the self-locking of the first landing gear is released, In order to rotate the first landing gear from the folded state to the unfolded state, the drone can be provided with support, thereby greatly simplifying the structure of the drone, and having the characteristics of low cost, overall light weight and high reliability.

The present invention also provides a drone. In an embodiment, the drone includes a foldable first landing gear for a landing phase of the drone, which is deployed in position to provide the drone support.

The embodiment of the present invention includes all the technical solutions of all the embodiments of the above-mentioned UAV system, and the technical effects achieved are also completely the same, and details are not described herein again.

The present invention also provides a control method for operating the unmanned aerial vehicle system described in any one of the above technical solutions. As shown in FIG. 8, the control method includes the following steps:

In step S100, a second landing gear placed on the take-off surface is provided. The take-off surface can be arbitrarily selected according to the actual application scenario, such as the ground, the table top, etc., and the second landing gear is used to provide support for the drone that the first landing gear 120 is in a folded state, so as to maintain the drone and the take-off surface. Preset spacing. Moreover, the second landing gear is separated from the drone after the drone takes off, that is, the second landing gear is independent of the drone, and may be a pedestal that can be stably placed on the take-off surface, or can be stably placed The bracket on the take-off surface, and when the drone is placed on the second landing gear, should ensure that the relevant loads (such as cameras, cameras, etc.) installed on the drone do not touch the take-off surface.

In step S200, it is determined whether the drone in the flying state receives an instruction to trigger its entry into the landing mode, and if so, proceeds to step S300, and otherwise returns to step S200.

In this embodiment, the drone is kept in the folded state during the take-off phase and during the execution of the task, and the folded state refers to the first landing gear 120 being gathered on the bottom surface of the body 100 to avoid Blocks the load under the drone. The command to trigger the drone to enter the landing mode may come from itself or from the outside (such as a ground control system, specifically a remote controller). In the landing mode, the drone selects the target landing location, and controls the first The drop frame 120 is unfolded from the folded state to the unfolded state so that the drone supports the drone through the first landing gear 120 when approaching the landing surface, ensuring that the drone can land smoothly.

The command to trigger the drone to enter the landing mode comes from itself. The drone learns its running state through self-test during flight. For example, when the battery is insufficient, an instruction to trigger the drone to enter the landing mode is generated. When an electronic control unit fails, an instruction to trigger the drone to enter the landing mode is generated to ensure that the drone does not directly collide with the landing surface during an emergency landing.

In step S300, the first landing gear is controlled to be deployed from the folded state to the preset expanded state. Wherein, the first landing gear 120 can be deployed under its own gravity, greatly simplifying the structural design, and positioning by the relevant positioning device in the unfolded state to ensure that the first landing gear 120 forms a drone when contacting the landing surface. Effective support and cushioning to protect the drone from damage. In addition, the first landing gear 120 can also be unfolded from the folded state to the preset unfolded state under the driving of the positioning device, and the reliability is higher.

The control method of the UAV system provided by the present invention adopts two sets of separately arranged landing gears, wherein the first landing gear is a foldable structure and is arranged on the drone, and the folding action is manually completed and self-locking in the folded state. The second landing gear is placed on the take-off surface, independent of the drone and provides support to the drone in the take-off phase to maintain a preset distance between the drone and the take-off surface; when the drone is ready to take off, Folding and holding the first landing gear in a folded state to avoid blocking the load under the drone while supporting the drone through the second landing gear; when the drone is ready to land, the first landing gear The self-locking release, so that the first landing gear is rotated from the folded state to the unfolded state, can provide support for the drone, thereby greatly simplifying the structure of the drone, and having the characteristics of low cost, overall light weight and high reliability.

The above are only the preferred embodiments of the present invention, and are not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformations made by the description of the present invention and the drawings are directly or indirectly applied to other related technical fields. The same is included in the scope of patent protection of the present invention.

Claims

An unmanned aerial vehicle system, including a drone, characterized in that the drone includes a foldable first landing gear, the drone system further comprising a second landing gear adapted to the drone When the first landing gear is in a folded state, the second landing gear is used to provide support for the drone in the take-off phase to maintain a preset distance between the drone and the take-off surface, and The drone is separated from the drone after takeoff.
The drone system of claim 1 wherein said first landing gear is rotatably coupled to the body of said drone, said body being provided with means for retaining said first landing gear in said fold A state locking device and a positioning device for holding the first landing gear in an unfolded state.
The drone system of claim 2 wherein said locking means comprises a first electronic control unit, said first electronic control unit having an extension and retraction upon receipt of an electrical signal a first telescopic portion corresponding to a position of the first landing gear, the first telescoping portion extending into or abutting the first landing gear when in an extended state to maintain the first landing gear in a folded state in a folded state Disengaging the first retractable portion from the first landing gear when the first telescoping portion is in a retracted state to release the first landing gear in a folded state; or

The locking device includes a first electromagnetic device having a suction portion that generates a magnetic force under the action of an electrical signal and corresponds to a position of the first landing gear, the first electromagnetic device further comprising a magnetic portion provided corresponding to a position of the adsorption portion of the first landing frame, wherein the magnetic portion is adsorbed when the adsorption portion is formed with a magnetic force to hold the first landing gear in a folded state in a folded state; The magnetic portion is released when the magnetic force is eliminated to release the first landing gear in a folded state.
The drone system according to claim 2, wherein said positioning means comprises a motor, an output shaft of said motor is coupled to a rotating shaft of said first landing gear, and said output shaft of said motor is rotated by a predetermined angle Self-locking to maintain the first landing gear in an unfolded state in an unfolded state;

Alternatively, the positioning device includes a rotary cylinder, an output shaft of the rotary cylinder is coupled to a rotating shaft of the first landing gear, and the first landing gear in an unfolded state is maintained in an unfolded state after the rotary cylinder is actuated;

Still further, the positioning device further includes a gas rod, one end of the gas rod is connected to the body, and the other end is connected to a portion of the first landing gear away from the axis of rotation thereof, and the gas rod is in an unfolded state when it is extended. The first landing gear of the state remains in the unfolded state.
The drone system according to claim 2, wherein said positioning means comprises a stop portion provided on said body and corresponding to a position of said first landing gear, said positioning device further comprising a torsion spring, The two connecting ends of the torsion spring respectively abut the first landing gear corresponding to the body and the body, the elastic restoring force of the torsion spring to the first landing gear and the stop to the first landing gear The forces are respectively located on opposite sides of the first landing gear to maintain the first landing gear in the deployed state in an unfolded state.
The drone system according to claim 2, wherein said positioning means comprises a stop portion provided on said body and corresponding to a position of said first landing gear, said positioning means having at least one a second telescopic portion that abuts the first landing gear when the first landing gear is in an unfolded state, a force of the second telescopic portion on the first landing gear, and a force of the stopping portion on the first landing gear The forces are respectively located on opposite sides of the first landing gear to maintain the first landing gear in the deployed state in an unfolded state.
The drone system of claim 6 wherein said positioning means comprises a second electronic control unit, said second telescoping portion being extendable by an electrical signal of said second electronic control unit And retracting, the second telescopic portion abuts against the first landing gear when in the extended state; or the positioning device includes an elastic returning member, and the second telescopic portion extends under the action of the elastic returning member Pull out and abut the first landing gear.
The drone system of claim 2 wherein said first landing gear is rotated relative to said body by its own weight to rotate from said folded condition to said deployed state.
The UAV system according to any one of claims 1 to 8, wherein the first landing gear is in a folded state and is located on a surface of the paddle arm of the body;

Or the paddle arm is provided with a receiving slot, and the first landing gear is located in the receiving slot when in the folded state;

Or, when the first landing gear is in a folded state, two adjacent first landing gears are arranged in parallel or in a "one" shape, and the locking device is disposed in two adjacent first landing gears. The two first landing gears are locked to each other.
The unmanned aerial vehicle system according to any one of claims 1 to 8, wherein the unmanned aerial vehicle further comprises detection for detecting whether the first landing gear is rotated from a folded state to a preset deployed state Device.
A drone, characterized in that the drone is the drone according to any one of claims 1 to 10.
A control method for operating an unmanned aerial vehicle system according to any one of claims 1 to 10, characterized in that the control method comprises the following steps:

Providing a second landing gear disposed on the take-off surface, the second landing gear for supporting the drone of the first landing gear in a folded state to maintain a pre-war between the drone and the take-off surface Set the spacing;

Determining whether the drone in flight state receives an instruction to trigger its entry into a landing mode, and if so, controlling the first landing gear to expand from the collapsed state to a preset deployed state.