WO2017107493A1 - 一种飞行器脚架、飞行器及控制方法 - Google Patents

一种飞行器脚架、飞行器及控制方法 Download PDF

Info

Publication number
WO2017107493A1
WO2017107493A1 PCT/CN2016/092978 CN2016092978W WO2017107493A1 WO 2017107493 A1 WO2017107493 A1 WO 2017107493A1 CN 2016092978 W CN2016092978 W CN 2016092978W WO 2017107493 A1 WO2017107493 A1 WO 2017107493A1
Authority
WO
WIPO (PCT)
Prior art keywords
aircraft
stand
tripod
gravity
aircraft body
Prior art date
Application number
PCT/CN2016/092978
Other languages
English (en)
French (fr)
Inventor
郑卫锋
贾春红
郑毅
韦布伟
曾国志
Original Assignee
北京臻迪机器人有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201510997626.9A external-priority patent/CN105584621A/zh
Priority claimed from CN201610121438.4A external-priority patent/CN107128480B/zh
Application filed by 北京臻迪机器人有限公司 filed Critical 北京臻迪机器人有限公司
Priority to US16/090,030 priority Critical patent/US20190193844A1/en
Priority to EP16877305.9A priority patent/EP3412564A4/en
Publication of WO2017107493A1 publication Critical patent/WO2017107493A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/02—Undercarriages
    • B64C25/08—Undercarriages non-fixed, e.g. jettisonable
    • B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
    • B64C25/18—Operating mechanisms
    • B64C25/26—Control or locking systems therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/02—Undercarriages
    • B64C25/08—Undercarriages non-fixed, e.g. jettisonable
    • B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/02—Undercarriages
    • B64C25/08—Undercarriages non-fixed, e.g. jettisonable
    • B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
    • B64C25/18—Operating mechanisms
    • B64C25/20—Operating mechanisms mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U60/00—Undercarriages
    • B64U60/40—Undercarriages foldable or retractable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography

Definitions

  • the invention belongs to the field of aircrafts, and in particular to an aircraft stand, an aircraft and a control method.
  • aircraft or drones have been more and more widely used in social life, for close observation of places that are difficult for people to reach, or for high-altitude overhead shooting, which facilitates observation and shooting.
  • the existing aircraft is often composed of an aircraft fuselage and an arm extending from the aircraft fuselage to the outer side.
  • the outer end of the arm is equipped with a motor and a propeller to drive the flight of the aircraft, and the lower part of the aircraft is also provided with a tripod. To facilitate the landing of the aircraft.
  • the extended arm and the tripod are fixedly connected to the fuselage, and in use, the large arm span makes the aircraft have higher requirements for the storage space, and at the same time
  • the aircraft itself needs weight reduction considerations, and the structure of each part of the aircraft is also relatively simple in design. Therefore, the large arm span also leads to the risk of easy breakage caused by improper storage.
  • a skeleton mechanism such as an aircraft, an arm locking drive mechanism of an aircraft capable of realizing deployment and recovery of an aircraft arm, an arm of an aircraft, and an aircraft foot capable of deploying and retracting the aircraft stand New developments are required for the drive mechanism and so on.
  • the present invention has been made in view of the above.
  • the technical problem to be solved by the present invention is to overcome the deficiencies of the prior art, and provide an aircraft stand, an aircraft and a control method for realizing the automatic opening and closing of the aircraft tripod and solving the storage caused by the inability of the existing aircraft tripod to open and close. Inconvenience and inconvenience in flight control.
  • An aircraft tripod the aircraft tripod being movably coupled to an aircraft body, the aircraft tripod being rotatable to at least one first position and a second position; the first position being: the aircraft tripod There is an angle with the aircraft body that is substantially close to the aircraft body or at least partially disposed within the aircraft body.
  • the long axis of the aircraft body is parallel or coincident with the center of gravity of the aircraft body, and the free end of the stand has a degree of freedom with respect to the angle of the center of gravity of the aircraft body.
  • the virtual extension line of the central axis of the aircraft tripod has an angle of 0 to less than 90 degrees with the center of gravity of the aircraft body; in the second position, the The free end of the aircraft stand is higher than the connection between the aircraft stand and the aircraft body.
  • the aircraft body cross section is a regular pattern that is axisymmetric with respect to the center of gravity of the aircraft body, and preferably the aircraft body has a convex polygon in cross section.
  • the outer shape of the aircraft body is a smoothly transitioned closed curved envelope surface; preferably, the outer shape of the aircraft body is an ellipsoid with a smoothly closed curved envelope surface that is parallel to the longitudinal axis direction or coincides with the center of gravity of the drone. .
  • the outer casing of the aircraft body has an open slot or groove at least partially adapted to the stand of the aircraft; preferably the outer casing of the aircraft body has an open slot or groove adapted to the stand of the aircraft, The aircraft stand is at least partially disposed in an open slot or recess of the outer casing of the aircraft body;
  • one side of the aircraft stand has a smooth transition shape close to the outer casing of the aircraft body, and the open slot or groove can integrally receive the stand when the aircraft stand is in the second position, In order to make the tripod and the outer casing of the aircraft body together form a closed curved envelope surface with a smooth transition.
  • the tripod has a locking device that can maintain the freedom of the aircraft tripod when the aircraft tripod is in the first position
  • the end is lower than the connection end of the aircraft stand and the aircraft body.
  • a tripod control module is further configured to control the aircraft tripod drive motor to deploy the aircraft tripod after receiving the tripod deployment command, when the aircraft tripod is deployed to the support position, Controlling the aircraft tripod drive motor to stop deploying the aircraft tripod, and, after receiving the tripod recovery command, controlling the aircraft tripod drive motor to recover the aircraft tripod, and controlling the aircraft tripod when the aircraft tripod is recycled to the stowed position
  • the drive motor stops recycling the aircraft tripod
  • the aircraft tripod drive motor is mounted to a skeleton of the aircraft for unfolding or reclaiming the aircraft stand under the control of the stand control module.
  • the aircraft tripod control system further includes an aircraft tripod locking motor and an aircraft tripod locking mechanism; wherein the tripod control module is further configured to control the aircraft tripod lock after stopping the deployment of the aircraft tripod Tightening the motor to lock the aircraft tripod to the support state by driving an aircraft tripod locking mechanism; the aircraft tripod locking motor is configured to drive the aircraft tripod lock under the control of the tripod control module A tightening mechanism locks the aircraft stand to the support state.
  • the tripod control module is further configured to control the aircraft tripod locking motor to drive the aircraft tripod locking mechanism after receiving the tripod recovery command and before controlling the aircraft tripod driving motor to recover the aircraft tripod The aircraft tripod is unlocked; the aircraft tripod locking motor is further configured to drive the aircraft tripod locking mechanism to unlock the aircraft tripod under the control of the tripod control module.
  • the aircraft stand control system further includes a first micro switch, wherein the first micro switch is mounted to a skeleton of the aircraft and electrically connected to the stand control module, and when the aircraft When the tripod is deployed to the support position, the aircraft tripod touches the first micro switch, so that the first micro switch sends a first feedback signal to the tripod control module; the tripod control module receives After the first feedback signal, it is determined that the aircraft tripod is deployed to the support position.
  • the aircraft stand control system further includes a second micro switch, wherein the second micro switch is mounted on a skeleton of the aircraft and electrically connected to the stand control module, and when the aircraft When the tripod is recovered to the stowed position, the aircraft tripod touches the second micro switch, so that the second micro switch sends a second feedback signal to the tripod control module; the tripod control module receives After the second feedback signal, it is determined that the aircraft tripod is recycled to the gathering position.
  • the second micro switch is mounted on a skeleton of the aircraft and electrically connected to the stand control module, and when the aircraft When the tripod is recovered to the stowed position, the aircraft tripod touches the second micro switch, so that the second micro switch sends a second feedback signal to the tripod control module; the tripod control module receives After the second feedback signal, it is determined that the aircraft tripod is recycled to the gathering position.
  • the aircraft stand control system further includes: a potentiometer mounted on a skeleton of the aircraft, and the knob of the potentiometer is coaxial with the axis of the aircraft tripod drive motor and The knob rotates synchronously with the crankshaft, and the potentiometer is configured to send a third feedback signal to the tripod control module when the aircraft tripod is deployed to a support position, when the aircraft tripod is recycled to the gathering position Sending a fourth feedback signal to the tripod control module; after receiving the third feedback signal, the tripod control module determines that the aircraft tripod is deployed to a support position, and after receiving the fourth feedback signal, It is determined that the aircraft tripod is recycled to the gathering position.
  • the tripod deployment command and the tripod recovery command are issued by a flight control module of the aircraft, the aircraft tripod control system further comprising: a height detecting module, wherein the altitude detecting module is configured to measure the flying height of the aircraft, and Deriving a flight altitude of the aircraft to the flight control module; the flight control module determining a flight altitude of the aircraft, the flight control module to the foot when a flight altitude of the aircraft is lower than a preset height
  • the rack control module sends a tripod deployment command, and when the flying height of the aircraft is higher than a preset height, the flight control module sends a tripod recovery command to the tripod control module.
  • the tripod deployment command and the tripod recovery command are issued by a flight control module of the aircraft, the aircraft tripod control system further comprising: a tripod remote control module for using the flight control The module remotely issues a tripod deployment command and a tripod recovery command; when the flight control module receives the tripod deployment command, sends a tripod deployment command to the tripod control module; when the flight control module receives the tripod After the recycle command, a tripod recycle command is sent to the tripod control module.
  • An aircraft comprising an aircraft body and an aircraft gantry rotatably disposed thereon, the aircraft body having a closed curve in cross section, a first point on the aircraft body and a first axis of gravity of the aircraft The distance is different from a second distance from the second point on the aircraft body to the center of gravity of the aircraft.
  • the cross section of the aircraft body is an axisymmetric regular closed curve, and each cross section of the aircraft body along the axis of gravity of the aircraft is of similar geometry, preferably the cross section of the aircraft body is a convex polygon, and Preferably, the aircraft body is flying
  • the middle portion of the center of gravity of the rower has a largest cross section, and the cross section extending from the center to the sides along the center of gravity axis gradually becomes smaller.
  • the outer shape of the aircraft body is a partial ellipsoid or ellipsoid having a long closed axis and a short axis with a smoothly closed curved envelope surface, the long axis coincides with the center of gravity axis of the aircraft body.
  • the aircraft stand is rotatably disposed on an aircraft body below a central portion 1/2 of a center of gravity of the aircraft body, the outer casing of the aircraft body having at least a portion adapted to be disposed along a central axis direction of the aircraft body An open slot or groove of the aircraft stand.
  • the connecting end of the aircraft tripod is rotatably disposed at an end close to the open slot or groove, and the free end of the aircraft tripod can be stowed in a state and close to the open slot or recess
  • the other end of the slot is disposed on the aircraft body below the center 1/2 of the central axis of the aircraft body.
  • the aircraft stand has a smooth curved shape similar to the outer surface of the aircraft body such that the aircraft stand is at least partially or fully embedded in the open slot or groove in the stowed state of the aircraft stand.
  • the aircraft tripod rotates around the connecting end, and the free end of the aircraft tripod is removed from the shooting field of the aircraft camera.
  • An aircraft tripod control method comprising the step of controlling the tripod to be gathered: the step of gathering is to control the aircraft
  • the tripod is angled from the aircraft stand to the aircraft body to support the aircraft to a first position spaced from a surface, the aircraft stand being folded to substantially close to the aircraft body casing, or at least A portion of the aircraft tripod is disposed in a second position within the aircraft casing.
  • the free end of the aircraft stand is higher than the connecting end of the aircraft stand and the aircraft body.
  • the method further includes the step of controlling the deployment of the aircraft stand, the unfolding step of deploying from the second position to an angle between the aircraft stand and the aircraft body to support the aircraft to a surface There is a first position with a spacing.
  • control method before performing the step of deploying the aircraft tripod, the control method further comprises determining a distance between the aircraft and a surface, when a threshold of a distance between the aircraft and a surface is lower than or equal to a pre- When the value is set, the step of controlling the deployment of the aircraft stand is performed.
  • a locking step is further included, wherein the locking step is to control the locking mechanism to lock the aircraft stand in the first position after performing the step of deploying the aircraft stand.
  • the method further includes the step of controlling the unlocking of the tripod before performing the step of folding the aircraft tripod, the unlocking step comprising controlling the aircraft tripod from the aircraft tripod and the aircraft body An angle is provided between the aircraft to support the first position spaced from a surface to unlock.
  • controlling the aircraft stand in the second position causes the aircraft stand to rotate to form a smoothly closed curved envelope surface with the outer casing of the aircraft body.
  • the aircraft stand when the aircraft stand is controlled in the second position, the aircraft stand is rotated into an open slot or groove disposed at least partially in the direction of the central axis of the outer casing of the aircraft body, Together with the outer casing of the aircraft body, a shape that is close to a polygonal, circular or elliptical shape is formed, wherein the long axis of the ellipse is parallel or coincident with the axis of gravity of the aircraft body.
  • the step of folding the aircraft tripod is: after the tripod control module receives the tripod recovery command, the aircraft tripod drive motor is controlled to recover the aircraft tripod; when the aircraft tripod is recycled to the stowage position, the tripod control module Control the aircraft tripod drive motor to stop the recovery of the aircraft tripod.
  • the step of unfolding the aircraft tripod is: after the tripod control module receives the tripod deployment command, controlling the aircraft tripod drive motor to deploy the aircraft tripod; when the aircraft tripod is deployed to the support position, the tripod control module Control the aircraft tripod drive motor to stop deploying the aircraft stand.
  • the unfolding step of the aircraft stand further comprises: the stand control module controls the aircraft stand lock motor to drive the aircraft stand lock The mechanism locks the aircraft stand to the support state.
  • the step of collapsing the aircraft tripod further includes The tripod control module controls the aircraft tripod locking motor to drive the aircraft tripod locking mechanism to unlock the aircraft tripod.
  • the tripod control module determines the deployment of the aircraft tripod to the support position by using feedback of the first micro switch that is activated when the aircraft tripod is deployed to the support position .
  • the tripod control module determines that the aircraft tripod is recycled to the gathering position by using feedback of the micro switch that is touched when the aircraft tripod is recovered to the gathering position.
  • the tripod control module is configured to be coaxial with the axis of the aircraft tripod drive motor, and the knob is determined by the signal fed back by the potentiometer that rotates synchronously with the crankshaft to determine the aircraft tripod Expand to support or recycle to the stowed position.
  • the aircraft stand control method further includes: detecting a flying height of the aircraft;
  • a tripod recovery command is sent to the tripod control module.
  • a method of controlling an aircraft comprising the steps of:
  • the aircraft stand is controlled to rotate from a second position that is substantially close to the aircraft body or at least partially disposed within the aircraft body from the aircraft stand; preferably controlling the aircraft stand from the The free end of the aircraft tripod is rotated to a first position above a joint end of the aircraft tripod and the aircraft body and/or a second end of the aircraft tripod that is higher than a bottom of the aircraft body.
  • the aircraft stand body is controlled to be substantially close to a partially ellipsoidal or ellipsoidal aircraft body having a long closed axis and a short axis having a smoothly closed curved envelope surface, or at least partially from the aircraft stand body A second position within the partially ellipsoidal or ellipsoidal aircraft body having a long closed axis and a short axis having a smoothly closed curved envelope surface is rotated to the first position.
  • the present invention has the following advantageous effects compared with the prior art.
  • the aircraft tripod and the control method of the invention realize the automatic opening and closing of the aircraft tripod.
  • the automatic opening and closing can be automatically performed, the aircraft tripod can be stored and saved conveniently when not in use, and the existing aircraft is solved due to the foot.
  • the frame is fixed and cannot be opened and closed.
  • the aircraft stand is automatically recovered in the air, and the recovered aircraft stand is not supported by the aircraft body and does not give the aircraft a low shot. Interference caused by work such as detection.
  • the invention enables the aircraft tripod to be automatically opened, thereby combining the height feedback of the height detecting module of the present invention or the remote control of the remote controller, so that the aircraft tripod can be automatically deployed to the support position in time before the aircraft is landed, thereby The smooth support of the landing surface provides a reliable guarantee.
  • Figure 1 is a schematic view showing the structure of the tripod of the present invention in a first position
  • FIG. 2 is a schematic structural view of the tripod of the present invention when it is in the second position
  • FIG. 3 is a schematic flow chart of a control step of the present invention.
  • FIG. 4 is a schematic view of an aircraft used in an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of an aircraft tripod driving mechanism used in an embodiment of the present invention.
  • FIG. 6 is a schematic structural view of another aircraft tripod driving mechanism used in an embodiment of the present invention.
  • FIG. 7 is a schematic structural view of an aircraft stand according to an embodiment of the present invention.
  • FIG. 8 is a schematic flowchart of an embodiment of the present invention.
  • FIG. 9 is a schematic flowchart of another embodiment of the present invention.
  • FIG. 10 is a schematic flowchart of still another embodiment of the present invention.
  • FIG. 11 is a schematic diagram of an embodiment corresponding to one specific application of FIG. 9 according to an embodiment of the present invention.
  • FIG. 12 is a schematic diagram of an embodiment corresponding to one specific application of FIG. 10 according to an embodiment of the present invention.
  • connection In the description of the present invention, it should be noted that the terms “installation”, “connected”, and “connected” are to be understood broadly, and may be fixed or detachable, for example, unless otherwise explicitly defined and defined. Connected, or integrally connected; can be mechanical or electrical; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention can be understood in a specific case by those skilled in the art.
  • the invention provides, in a first aspect, an aircraft stand 2, the aircraft stand 2 being movably coupled to an aircraft body, the aircraft stand 2 being rotatable to at least a first position and a second position;
  • the first position is: an angle between the aircraft stand 2 and the aircraft body
  • the second position is: the aircraft stand 2 is substantially close to the aircraft body, or the aircraft stand 2 is at least partially disposed in the aircraft Within the subject.
  • the aircraft stand 2 is rotatably connected with the aircraft body, where the rotation may be in a certain two-dimensional plane around a certain point or an axis, or may be a rotation in a three-dimensional space around a certain point; the aircraft stand 2 may be The first position is rotated to a second position, wherein in the first position, the aircraft stand 2 has an angle with the aircraft body, and the aircraft stand 2 is deployed to support the aircraft body at a certain height from the ground Degree, this is usually the stage of takeoff or landing of the aircraft.
  • the aircraft stand 2 In the second position, the aircraft stand 2 is substantially close to the aircraft body, attached or snugly, or the aircraft stand 2 is located inside the aircraft body, and the aircraft stand 2 is directly incorporated into the aircraft body, the aircraft stand 2 Within the contour envelope of the aircraft body, the aircraft stand 2 is gathered.
  • the design of the aircraft generally adopts a central axis or a long axis parallel to the horizontal plane or an acute angle with the horizontal plane.
  • the central axis here is the axis of the aircraft structural body or the axis of the central extension line, which can pass through the shape of the aircraft.
  • the central axis determines whether the aircraft is parallel or horizontal with respect to the horizontal direction.
  • the short axis is determined by the length direction of the specific shape of the aircraft.
  • the longer direction of the aircraft body is the long axis, and the relatively short direction is the short axis.
  • the central axis of the aircraft of the present invention is more obvious, that is, the long axis and the short axis.
  • the axis distinguishes obviously, the long axis vertical plane of the aircraft of the present invention, that is, the long axis is a vertical direction and the short axis is a horizontal direction, and the long axis of the aircraft body is parallel or coincident with the center of gravity axis of the aircraft body, and the aircraft stand 2
  • the free end 212 has a degree of freedom with respect to the angle of the center of gravity of the aircraft body, and the aircraft has a
  • the center of gravity axis, the long axis of the aircraft body is arranged in parallel with the axis of gravity of the aircraft, and the aircraft stand 2 is formed in a second position, that is, when it is gathered in the main body of the aircraft, a horizontal or horizontal structure can be formed, which is advantageous for reducing the aircraft.
  • the occupied space does not affect the flight state of the aircraft tripod 2 when it is deployed.
  • the aircraft stand 2 is rotatable about the aircraft body connecting end 213, and the angle between the rotatable end-free end 212 and the center of gravity of the aircraft body is correspondingly changed, and the angle of the angle depends on the aircraft stand 2
  • the position of the rotation is that the free end 212 is a rotational displacement of the end relative to the main body of the aircraft, for example, a rocker mechanism, a link structure or a rotating pair connection, and the aircraft can be realized.
  • the aircraft stand 2 has at least a connecting end 213 and a free end 212, wherein the aircraft stand 2 is a single pole or a connecting rod, and the free end 212 can be one or more, the aircraft tripod 2 One or more connecting ends 213 connected to the main body of the aircraft.
  • the aircraft stand 2 rotates about a joint with the aircraft body, in the first position, the virtual extension line of the central axis of the aircraft stand 2 and the center of gravity of the aircraft body have 0 to less than 90 degrees Angle; in the second position, the free end 212 of the aircraft stand 2 is higher than the connecting end 213 of the aircraft stand 2 and the aircraft body.
  • the angle between the extension of the central axis or the central axis of the aircraft and the axial center of the center of gravity of the aircraft body is an acute angle, and the central axis here is the geometric center line of the aircraft body, preferably, the angle is 30°.
  • the aircraft stand 2 is hinged to the aircraft body, the aircraft stand 2 includes a connecting end 213 and a free end 212, the aircraft stand 2 is connected to the aircraft body through the connecting end 213, and the free end 212 can be around the connecting end 213 in a certain plane Rotate.
  • the aircraft stand 2 is hinged to the aircraft body, the aircraft stand 2 includes a connecting end 213 and a free end 212, the aircraft stand 2 is connected to the aircraft body through the connecting end 213, and the free end 212 can be around the connecting end 213 in a certain plane Rotate.
  • the aircraft body cross section is a regular pattern that is axisymmetric with respect to the center of gravity of the aircraft body, preferably the aircraft body cross section is a convex polygon.
  • the cross section of the main body of the aircraft is a symmetrical regular pattern.
  • the cross section of the main body is a convex polygon to ensure that the circumferential force of the main body is uniform and the gravity of the main body can be evenly distributed on the structure, which is favorable for the force and flight of the aircraft.
  • the convex polygon mentioned here includes a structure composed of a curve, that is, a plane figure composed of a straight line, an arc, and a curve, and geometrically, a point forming line, a line forming surface, and an arc
  • the line is also composed of a multi-point connection
  • the point-to-point connection is a straight line. Therefore, the arc and the curve are composed of straight line segments with two points at infinite distance, and the convex polygon includes a plane figure composed of curves.
  • the outer shape of the aircraft body of the present invention is a smoothly transitioned closed curved envelope surface.
  • the closed curved envelope surface is a closed enclosed structure around the center of gravity axis in the circumferential direction, adopting a smooth transition line and surface.
  • the connection makes the overall structure of the aircraft more beautiful, and also conforms to the hydrodynamic structure of reducing wind resistance.
  • This form of structure can be a sphere, an ellipsoid, a part of a sphere, a part of an ellipsoid, or other conformity. Smooth transition, closing a part of the body or body required by the curved envelope.
  • the outer shape of the aircraft body is an ellipsoid having a smoothly closed curved envelope surface with a long axis direction parallel or coincident with the center of gravity of the unmanned aircraft, and the center of gravity of the ellipsoidal aircraft coincides with the long axis to make the center of gravity more stable.
  • the long axis is the vertical center of gravity
  • the bottom of the aircraft will swing with a certain point on the center of gravity or the center of gravity, and Because of the gravity of the aircraft itself, it will not cause the aircraft to have irregular center of gravity and cause irregular movement of the aircraft.
  • the casing 1 has an open slot or recess 214 at least partially adapted to the aircraft stand 2 of the aircraft, the outer casing 1 of the aircraft body having an open slot or recess 214 adapted to the aircraft stand 2 of the aircraft,
  • the aircraft stand 2 is at least partially disposed within an open slot or recess 214 of the aircraft body casing 1.
  • An open slot or groove 214 is disposed in the outer casing 1 of the aircraft body, and the aircraft stand 2 can be buckled into the slot to form at least a portion of the aircraft stand 2 in the slot, which is beneficial to the folding of the foot plate, and is also effective for ensuring the collapsed
  • the aircraft stand 2 does not have a positional shift.
  • one side of the aircraft stand 2 has a proximity to the outer casing 1 of the aircraft body.
  • the open slot or groove 214 can integrally receive the aircraft stand 2 when the aircraft stand 2 is in the second position, so that the aircraft stand 2 and the outer casing 1 of the aircraft body are common
  • a closed curved envelope surface that is shaped as a smooth transition.
  • the aircraft stand 2 In order to enable the aircraft stand 2 to stably support the aircraft body when the aircraft stand 2 is in the first position, that is, in the deployed position, the aircraft stand 2 has locking means for maintaining the aircraft stand 2 in the In the first position, the free end 212 of the aircraft stand 2 is lower than the connecting end 213 of the aircraft stand 2 and the aircraft body. In the first position, the free end 212 of the aircraft stand 2 is located below the connecting end 213, and a locking mechanism is provided to fix the position of the aircraft stand 2, thereby increasing the support stability of the aircraft stand 2, and at the same time making the drone When the power supply or the like is not activated, the vehicle is in this position for a long time, and the locking mechanism is such that the aircraft stand 2 is in a state.
  • the invention provides, in a second aspect, an aircraft comprising an aircraft body and an aircraft stand 2 rotatably disposed thereon, the aircraft body having a closed curve in cross section, the first point on the aircraft body The first distance of the center of gravity of the aircraft is different from the second distance of the second point on the aircraft body from the center of gravity of the aircraft.
  • the aircraft includes a main body and an aircraft stand 2, the main body has a closed curve, and the aircraft satisfies at least a distance between the first point on the main body and the center of gravity of the aircraft that is not equal to the distance between the second point on the main body and the center of gravity of the aircraft, as long as the aircraft There may be at least two points on the main body that can satisfy the distance to the axis of gravity center.
  • the rotation here may be a rotation around a certain point or an axis in a certain two-dimensional plane, or may be a rotation in a three-dimensional space around a point.
  • the aircraft stand 2 is hinged with the aircraft body, and the aircraft stand 2 includes a connection end 213. And the free end 212, the aircraft stand 2 is connected to the aircraft body through the connecting end 213, and the free end 212 is rotatable about the connecting end 213 in a certain plane.
  • the cross section of the aircraft body of the present invention is an axisymmetric regular closed curve.
  • Each cross section of the aircraft body along the axis of gravity of the aircraft has a similar geometry, and the cross section of the main body is a closed curve, which is horizontal on the center of gravity axis.
  • the connection of the sections forms a rounded curved surface; the axisymmetric regular closed curve makes the force of the main body uniform and the appearance is beautiful and coordinated.
  • the cross section of the aircraft body is a convex polygon, and the convex polygon here comprises a curve.
  • the structure consists of a plane pattern consisting of a straight line, an arc, and a curve.
  • a point forms a line
  • a line forms a surface
  • an arc is also composed of a multi-point connection
  • the point-to-point connection is a straight line.
  • the arc and the curve are composed of straight lines with two points at infinite distance.
  • the aircraft body has a largest cross section in the middle of the center of gravity axis of the aircraft, and the cross section extending from the central portion to the two sides along the center of gravity axis gradually becomes smaller, with the middle portion of the center of gravity of the aircraft body as a cent.
  • the boundary line extends to both ends of the center of gravity center, the cross section gradually decreases, the cross-sectional area in the middle of the center of gravity center is the largest, and the cross-section of both ends of the center of gravity axis is the smallest, forming an aircraft whose center of gravity is located in the middle of the main body and the upper and lower ends of the main body are small.
  • the outer shape of the aircraft body of the present invention is a partial ellipsoid or ellipsoid having a long closed axis and a short axis with a smoothly closed curved envelope surface, the long axis coincides with the center of gravity axis of the aircraft body.
  • the long axis is parallel to the horizontal or nearly parallel horizontal direction
  • the short axis is parallel to the center of gravity or close to the parallel center of gravity, forming a shape similar to an airship.
  • the long axis is parallel to the center of gravity or close to the parallel center of gravity
  • the short axis is parallel or horizontally parallel.
  • Parallel to the horizontal direction an egg-like shape is formed, preferably the major axis is parallel or substantially parallel to the axis of gravity.
  • the aircraft stand 2 is for supporting an aircraft body, and the aircraft stand 2 includes a connecting end 213 connected to the main body, and a free end 212 rotatably disposed below the center 1/2 of the center of gravity of the aircraft body
  • the outer casing 1 of the aircraft body has an open slot or groove 214 disposed at least partially adapted to the aircraft stand 2 along the central axis of the aircraft body, and the connecting end 213 of the aircraft stand 2 can be Rotatingly disposed adjacent one end of the open slot or recess 214, the free end 212 of the aircraft stand 2 can be stowed in one state and adjacent to the other end of the open slot or recess 214
  • the connecting end 213 is disposed on the aircraft body below the central portion 1/2 of the central axis of the aircraft body.
  • the aircraft stand 2 When the aircraft stand 2 is folded, the aircraft stand 2 can be retracted into the trough body of the main body by rotation. When the aircraft stand 2 is deployed, the aircraft stand 2 is connected to the lower part of the main body, which can provide favorable support for the main body of the aircraft, and gathers At the same time, the aircraft tripod 2 can be replenished into the trough body, so that the retracting and unloading of the aircraft tripod 2 is simpler, and the gathered aircraft tripod 2 is located in the main body slot of the aircraft, and does not affect the overall appearance.
  • the aircraft stand 2 After the aircraft stand 2 is closed, in order to make the aircraft stand 2 and the main body form an overall appearance, the overall appearance is more beautiful, the aircraft stand 2 has a smooth curved shape similar to the outer surface of the aircraft body, so that the aircraft stand 2
  • the aircraft stand 2 is at least partially or fully embedded in the open slot or recess 214 in the collapsed state.
  • the aircraft tripod 2 is gathered in the trough body, and the approximate smooth curved structure makes the aircraft stand 2 more harmonious with the main body.
  • the aircraft stand 2 is fully embedded in the open slot or groove when the aircraft stand 2 is in the stowed state.
  • the aircraft stand 2 is integrally located in the slot, and only a part of the outer surface of the aircraft stand 2 and the outer surface of the body together form an overall outer surface of the aircraft, which is more beautiful.
  • the aircraft is generally equipped with a camera 7 for aerial photography and the like, and the camera 7 is mounted at the bottom of the aircraft.
  • the free end 212 of the aircraft stand 2 exceeds the end of the camera 7 to support the aircraft, some parts of the aircraft stand 2 will be located.
  • the aircraft stand 2 rotates around the connecting end 213, and the free end of the aircraft stand 2 212 is removed from the field of view of the aircraft camera 7.
  • the aircraft stand 2 supports the aircraft on a surface.
  • the aircraft's aircraft stand 2 rotates around the connecting end 213.
  • the free end 212 of the aircraft stand 2 is removed from the field of view of the aircraft camera 7; when the aircraft stand 2 is required to provide support for the aircraft, the aircraft stand 2 performs the above-mentioned reverse process and re-enters the field of view of the camera 7,
  • the aircraft provides support.
  • the rotation adjustment function of the aircraft stand 2 can provide support for the aircraft, and can provide a good shooting field for the camera 7, avoiding the position of the camera 7 extending farther to the aircraft stand 2 or leveling the aircraft stand 2 for the field of view. Extending out the shooting field of the camera 7, causing a large size of the aircraft equipment, which is not conducive to storage and storage.
  • the present invention provides, in a third aspect, an aircraft stand control method, the aircraft stand 2 being rotatably disposed on or in an aircraft body, the control method comprising the step of controlling the aircraft stand 2 to be gathered:
  • the step of gathering is to control the aircraft stand 2 from an angle between the aircraft stand 2 and the aircraft body to support the aircraft to a first position spaced from a surface, to the aircraft stand 2 is gathered to a second position that is substantially close to the aircraft body casing, or at least a portion of the aircraft stand 2 is disposed within the aircraft casing.
  • the aircraft stand 2 serves as a member for supporting the main body of the aircraft.
  • the aircraft stand 2 When the aircraft is flying or accommodating the aircraft, the aircraft stand 2 is folded to facilitate flight or storage.
  • the aircraft stand 2 supports the main body of the aircraft or is not closed,
  • the aircraft stand 2 is at an angle with the main body, or the aircraft stand 2 has an angle with the center of gravity of the main body, that is, the first position, the aircraft stand 2 is close to the main body of the aircraft or at least partially
  • the tripod 2 is within the housing, i.e., the second position, and the aircraft stand 2 is rotated from the first position to the second position to effect the gathering of the aircraft stand 2.
  • the free end 212 of the aircraft stand 2 is higher than the connecting end 213 of the aircraft stand 2 and the aircraft body, the connecting end The 213 is located at the lower part of the main body, and the free end 212 is closed in the casing or close to the casing through the rotation of the connecting end 213, so that the position of the connecting end 213 is prevented from being high, the frame can be gathered but cannot stably support the main body, or the frame It can be stably supported by the main body but cannot be gathered into the casing.
  • the control method of the present invention further includes the step of controlling the deployment of the aircraft stand 2, the unfolding step of deploying from the second position to an angle between the aircraft stand 2 and the aircraft body to The aircraft is supported to a first position spaced from a surface.
  • the unfolding step is the reverse operation of the step of folding described above, rotating the aircraft stand 2 from the second position to the first position, which can support the aircraft body on a surface, that is, the bracket bears on the surface, the main body and
  • the surface has a distance, preferably the surface is planar or substantially planar.
  • the aircraft stand 2 is hinged to the aircraft body, the aircraft stand 2 includes a connecting end 213 and a free end 212, the aircraft stand 2 is connected to the aircraft body through the connecting end 213, and the free end 212 can be around the connecting end 213 in a certain plane Rotate.
  • the gathering or unfolding of the aircraft stand 2 requires a predetermined command control.
  • the control method further comprises determining the distance of the aircraft from a surface when the aircraft is The step of controlling the deployment of the aircraft stand 2 is performed when the threshold of the distance from a surface is lower than or equal to a preset value.
  • the flight controller is in flight, before the step of deploying, the command to control the deployment of the aircraft stand 2 is not released to the mechanical control, the aircraft stand 2 is still in the second position, when the aircraft flies to a certain height,
  • the deployment of the aircraft stand 2 is controlled to trigger the command to deploy the aircraft stand 2, and the mechanical control implements the step of deploying the aircraft stand 2, which is defined as a threshold value, which is defined as a preset height that meets the deployment of the aircraft stand 2 as a preset.
  • a threshold value which is defined as a preset height that meets the deployment of the aircraft stand 2 as a preset.
  • the control method further includes a locking step of controlling the locking mechanism to lock the aircraft stand 2 to the first step after performing the step of deploying the aircraft stand 2 a location.
  • a locking step of controlling the locking mechanism to lock the aircraft stand 2 to the first step after performing the step of deploying the aircraft stand 2 a location.
  • the locking mechanism referred to herein is not limited to mechanical, electronic or other forms, and only needs to be fixed when the aircraft stand 2 is fixed or locked in the first position.
  • the mechanical locking is selected, and the aircraft can be powered off after locking. Or cut off the aircraft stand 2 control.
  • the control method of the present invention further includes executing the said aircraft foot
  • the step of unlocking the aircraft stand 2 includes controlling the aircraft stand 2 from an angle between the aircraft stand 2 and the aircraft body to The aircraft is supported to a first position that is spaced from a surface to unlock.
  • the step of unlocking even if the reverse control of the locking step is implemented, controls the locking mechanism to unlock when the step of folding is required, so that the aircraft stand 2 can be closed and the locked state is released.
  • the aircraft stand 2 When the aircraft stand 2 is closed, that is, when the aircraft stand 2 is in the second position, the aircraft stand 2 is integrally closed with the casing or embedded in the casing, and when the aircraft stand 2 is controlled in the second position, The aircraft stand 2 is rotated to form a smoothly closed curved envelope surface with the outer casing 1 of the aircraft body.
  • Controlling the aircraft stand 2 in the second position to rotate the aircraft stand 2 into an open slot or recess 214 disposed in the direction of its central axis at least partially embedded in the outer casing 1 of the aircraft body Forming a shape close to a polygon, a circle or an ellipse together with the outer casing 1 of the aircraft body, wherein the long axis of the ellipse is parallel or coincident with the axis of gravity of the aircraft body.
  • the closed curved envelope surface is a circumferential enclosed encircling around the center of gravity axis, and the smooth transition line and surface connection are used to make the overall structure of the aircraft flow more beautiful, and also to reduce the wind resistance.
  • this form of structure may be a sphere, an ellipsoid, a part of a sphere, a part of an ellipsoid, or part of a body or body that conforms to the requirements of a smooth transition, a closed curved envelope, an ellipsoidal aircraft
  • the center of gravity coincides with the long axis to make the center of gravity more stable.
  • the center of gravity of the aircraft will be centered because the long axis is the vertical center of gravity. The point swings, and because of the gravity of the aircraft itself, the aircraft does not cause the center of gravity instability resulting in irregular movement of the aircraft.
  • the aircraft tripod 2 is gathered in the trough body, and the approximate smooth curved structure makes the aircraft stand 2 more coordinated with the main body.
  • the aircraft stand 2 is fully embedded in the open slot or groove when the aircraft stand 2 is in the stowed state.
  • the aircraft stand 2 is integrally located in the slot, and only a part of the aircraft stand 2 and the main body together form an overall outer surface of the aircraft, which is more beautiful.
  • the present invention provides, in a fourth aspect, a method of controlling an aircraft, the aircraft comprising an aircraft body and an aircraft stand 2 rotatably disposed thereon, the aircraft control method comprising the steps of:
  • the aircraft includes an aircraft stand 2 and a main body, the aircraft stand 2 is used to support the main body, the aircraft is dropped before the aircraft falls in the air, the aircraft stand 2 is rotated from the first position to the second position, and the second position is the aircraft
  • the position of the stand 2 is close to the main body of the aircraft.
  • the first position is that the aircraft stand 2 is deployed to form a support in a certain plane, and the aircraft body has a distance from the plane.
  • the aircraft stand 2 is not less than two
  • the aircraft The tripod 2 is a structure including a free end 212 and a connecting end 213.
  • the connecting end 213 is connected to the aircraft body, and the free end 212 is rotatable about the connecting end 213.
  • the connecting end 213 is hinged, and the aircraft stand 2 is a single pole structure. .
  • the aircraft stand 2 is controlled to rotate substantially from the aircraft body or from a second position in which the aircraft stand 2 is at least partially disposed within the aircraft body to a first position; preferably the aircraft stand 2 is controlled from said
  • the free end 212 of the aircraft stand 2 is higher than the fly
  • the row of legs 2 and the end 213 of the aircraft body and/or the free end 212 of the aircraft stand 2 are rotated to a first position above a second position of the bottom of the aircraft body.
  • the aircraft stand 2 serves as a member for supporting the main body of the aircraft. When the aircraft is flying or accommodating the aircraft, the aircraft stand 2 is folded to facilitate flight or storage.
  • the aircraft stand 2 When the aircraft stand 2 supports the main body of the aircraft or is not closed, the aircraft stand 2 is at an angle with the main body, or the aircraft stand 2 has an angle with the center of gravity of the main body, that is, the first position, the aircraft stand 2 is close to the main body of the aircraft after being gathered or at least part of the aircraft stand 2
  • the rotation of the aircraft stand 2 from the first position to the second position within the casing, i.e., the second position enables the gathering of the aircraft stand 2.
  • the connecting end 213 is located at the lower part of the main body, and the free end 212 is closed in the casing or close to the casing through the rotation of the connecting end 213, so as to avoid the position of the connecting end 213 being high, the frame can be gathered but cannot stably support the main body, or The rack can be stably supported by the main body but cannot be folded into the casing.
  • a second axis and a minor axis of the partially ellipsoidal or ellipsoidal aircraft body having a smoothly closed curved envelope surface are rotated to a first position.
  • the long axis is parallel to the horizontal or nearly parallel horizontal direction
  • the short axis is parallel to the center of gravity or close to the parallel center of gravity, forming a shape similar to an airship.
  • the short axis is parallel or horizontally parallel.
  • an egg-like shape is formed, preferably the major axis is parallel or substantially parallel to the axis of gravity.
  • the closed curved envelope surface is a circumferential enclosed encircling around the center of gravity axis, and the smooth transition line and surface connection are used to make the overall structure of the aircraft flow more beautiful, and also to reduce the wind resistance.
  • this form of structure can be a sphere, an ellipsoid, a part of a sphere, a part of an ellipsoid, or other requirements that conform to a smooth transition, closed curved envelope.
  • the aircraft expands the arm and the stand to perform the flight operation and the landing support when in use, and the arm and the stand are housed in the outer casing of the arm when not in use, and the entire outer casing together with the arm
  • the arm cover plate and the foot cover cover plate which are exposed after the tripod are stored together form an ellipsoid shape, thereby protecting the internal equipment of the aircraft, the arm and the tripod when the aircraft is not used, and also facilitating the storage machine.
  • the placement of the aircraft behind the arms and the stand saves space for the aircraft.
  • the aircraft includes a housing 1, an aircraft stand 2, a boom 3 and a skeleton 4.
  • the outer casing 1 is fixedly mounted to the skeleton 4, and the outer casing 1 has an outer envelope surface in a closed curved shape, and the outer casing 1 is provided with a tripod opening slot and an arm opening slot.
  • the aircraft stand 2 is rotatably mounted to the skeleton 4 at the tripod opening groove, and the aircraft stand 2 has a space extending from the tripod opening to the outside of the casing 1 or recycled to the casing 1 Freedom within.
  • the arm 3 is rotatably mounted to the bobbin 4 at the open slot of the arm, and the arm 3 has a space extending from the open slot of the arm to the outside of the casing 1 or recovered to the inside of the casing 1 Degree of freedom.
  • the number of the aircraft stand 2 and the tripod opening slot, and the number of the arm 3 and the arm opening slot are both plural.
  • the aircraft stand 2 is alternately arranged with the arm 3, and the stand opening slot is alternately arranged with the arm opening slot.
  • the number of the aircraft stand 2 is the same as the number of the arm 3, and the number of the open slots of the stand is the same as the number of open slots of the arm.
  • the number of the aircraft tripod 2, the arm 3, the tripod opening slot, and the arm opening slot are all four.
  • the tripod drive mechanism 5 includes a steering gear 511 and a gear set 512.
  • the steering gear 511 is fixed to the skeleton 4 of the aircraft through a tripod mount.
  • the gear set 512 is mounted between the crankshaft of the steering gear 511 and the aircraft tripod shaft 21 to control the extension and recovery of the aircraft stand 2 under the action of the steering gear 511.
  • the gear set 512 includes a first transmission gear 5121 and a second transmission gear 5122.
  • the first transmission gear 5121 is mounted to a crankshaft of the steering gear 511 to rotate in accordance with the rotation of the crankshaft of the steering gear 511.
  • the second transmission gear 5122 is mounted on the aircraft tripod shaft 21, and the second transmission gear 5122 is meshed with the first transmission gear 5121, and the second transmission is driven when the first transmission gear 5121 rotates.
  • the rotation of the gear 5122 controls the deployment and recovery of the aircraft stand 2.
  • the tripod driving mechanism includes a transmission mechanism, and the transmission mechanism is mounted on the main body of the aircraft or a fixing device connected to the main body, and provides a supporting base for the transmission mechanism.
  • the transmission mechanism includes the motor 201, the worm gear, the worm gear and the worm gear.
  • the worm gear 203 and the worm 204 are connected.
  • the motor 201 is connected to the worm 204.
  • the worm 204 is connected to the worm wheel 203.
  • the worm wheel 203 is connected to the aircraft stand 2.
  • the aircraft stand 2 is rotatably connected to the main body through the stand shaft 202 or On the fixed portion of the main body connection, the aircraft stand 2 is rotatable about the stand rotating shaft 202, and the power output source thereof is the motor 201.
  • the motor 201 drives the worm 204 to drive the worm wheel 203, and the worm wheel 203 drives the stand rotating shaft 202.
  • the rotation of the aircraft stand 2 is realized to realize power transmission, and finally the transmission to the stand shaft 202 through the worm wheel 203 realizes the opening and closing control of the aircraft stand 2.
  • FIG. 5 and FIG. 6 only show a preferred implementation structure of the tripod driving mechanism of the present invention, and are not specifically limited to the tripod driving mechanism of the present invention, and may also adopt a belt transmission and a chain.
  • the transmission or other forms of transmissions and the like are used to achieve the purpose of expanding and folding the tripod cooperation control component of the present invention.
  • the aircraft tripod shaft 21 defines a finite plane 211, and the second transmission gear 5122 passes through the limiting surface 211 to limit its relationship with the aircraft tripod shaft 21
  • the relative rotation of the aircraft tripod 2 enables the aircraft stand 2 to be deployed and recovered as the second transmission gear 5122 rotates.
  • the aircraft stand control method of the present invention includes:
  • Step 1 the tripod control module waits to receive the command, and proceeds to step 2 or step 2' according to the received command;
  • Step 2 after receiving the tripod deployment command, the tripod control module controls the aircraft tripod drive motor to deploy the aircraft tripod, and then proceeds to step 3;
  • Step 3 when the aircraft tripod is deployed to the support position, the tripod control module controls the aircraft tripod drive motor to stop deploying the aircraft tripod, and then returns to step 1;
  • Step 2' after receiving the tripod recovery command, the tripod control module controls the aircraft tripod drive motor to recover the aircraft tripod, and then proceeds to step 3';
  • Step 3' when the aircraft tripod is recovered to the stowage position, the tripod control module controls the aircraft tripod drive motor to stop recovering the aircraft tripod, and then returns to step 1.
  • steps 2 to 3 are methods for deploying the aircraft stand, and steps 2' to 3' are methods for recovering the aircraft stand.
  • the method for deploying the aircraft stand further comprises:
  • Step 4 The tripod control module controls the aircraft tripod locking motor to drive the aircraft tripod locking mechanism to lock the aircraft tripod to the support state, and then returns to step 1.
  • the method for recycling the aircraft tripod further includes:
  • the tripod control module controls the aircraft tripod locking motor to drive the aircraft tripod locking mechanism to unlock the aircraft tripod.
  • the final stop position for the deployment and recovery of the aircraft stand is controlled by a micro switch mounted on the skeleton of the aircraft, and when it is deployed to the support position or recovered to the stowed position, the corresponding stop is just triggered.
  • the micro switch further feeds the corresponding signal to the tripod control module by the touched micro switch to indicate that the aircraft tripod has been deployed to the support position or has been recovered to the stowage position, thereby triggering the tripod control module to drive the motor to the aircraft tripod A stop signal is issued.
  • the tripod control module in the method for deploying the aircraft tripod, utilizes the first micro switch that is activated when the aircraft tripod is deployed to the support position. Feedback, determining that the aircraft tripod is deployed to a support position; in the recovery method of the aircraft tripod: the tripod control module uses the feedback of the micro switch that is activated when the aircraft tripod is recovered to the gathering position, It is determined that the aircraft tripod is recycled to the gathering position.
  • the final stop position for deployment and recovery of the aircraft tripod may be provided by a knob coaxial with the axle of the aircraft tripod drive motor and the knob is associated with the crankshaft
  • the potentiometer for synchronous rotation is determined. Because the change of the rotation angle of the knob of the potentiometer will cause the change of the output voltage of the potentiometer, therefore, the output of the potentiometer when the aircraft tripod is in the support position, in the retracted position, and in the state of being in the middle of the eating and gathering positions The voltages are different, and then by determining the output voltage of the potentiometer, It can be judged whether the aircraft is deployed to the support position or whether it is recycled to the gathering position.
  • the stand control module in the method of deploying the aircraft stand, utilizes feedback of the potentiometer when the aircraft stand is deployed to a support position, Determining that the aircraft tripod is deployed to a support position; in the recovery method of the aircraft tripod: the tripod control module determines feedback of the potentiometer by using the feedback of the potentiometer when the aircraft tripod is recovered to the gathering position The rack is recycled to the gathering position.
  • the aircraft tripod control method of the present invention further comprises the following steps:
  • Step a detecting the flying height of the aircraft
  • Step b when the flying height of the aircraft is lower than a preset height, sending a tripod deployment instruction to the tripod control module;
  • Step c Send a tripod recovery command to the tripod control module when the flying height of the aircraft is higher than a preset height.
  • the preset height range can be set to any height value between 0.5 meters and 5 meters, for example, can be set to 0.5 meters, 1 meter, 1.5 meters, 2 meters, 2.5 meters, 3 meters, 3.5 meters, 4 meters, 4.5 meters, 5 meters and so on.
  • the present invention also provides an aircraft stand control system, as shown in FIG. 9, including a stand control module 51 and an aircraft stand drive motor 52.
  • the tripod control module 51 is configured to control the aircraft tripod drive motor 52 to deploy the aircraft tripod 2 after receiving the tripod deployment command; and control the aircraft tripod when the aircraft tripod 2 is deployed to the support position
  • the drive motor 52 stops unfolding the aircraft stand 2; and, after receiving the tripod recovery command, the stand control module 51 controls the aircraft stand drive motor 52 to recover the aircraft stand 2, when the aircraft stand 2 is recycled to When the position is closed, the aircraft tripod drive motor 52 is controlled to stop the recovery of the aircraft stand 2.
  • the aircraft tripod drive motor 52 is mounted to the skeleton of the aircraft for unfolding or reclaiming the aircraft stand 2 under the control of the stand control module 51.
  • the aircraft stand control system further includes an aircraft tripod locking motor 53 and an aircraft tripod locking mechanism 54.
  • the tripod control module 51 is further configured to control the aircraft tripod locking motor 53 to drive the aircraft tripod locking mechanism 54 to lock the aircraft tripod 2 after the aircraft carrier 2 is stopped. Support state.
  • the aircraft tripod locking motor 53 is configured to drive the aircraft tripod locking mechanism 54 to lock the aircraft stand 2 to the support state under the control of the tripod control module 51.
  • the tripod control module 51 is further configured to control the aircraft tripod locking motor 53 to drive the aircraft tripod lock after receiving the tripod recovery command and before controlling the aircraft tripod drive motor 53 to recover the aircraft tripod 2.
  • Mechanism 54 unlocks the aircraft stand 2.
  • the aircraft tripod locking motor 53 is further configured to drive the aircraft tripod locking mechanism 54 to unlock the aircraft tripod 2 under the control of the tripod control module 51.
  • the aircraft stand control system further includes a first microswitch 55.
  • the first micro switch 55 is mounted to the skeleton of the aircraft and electrically connected to the tripod control module 51, and when the aircraft tripod is deployed to a support position, the aircraft tripod touches the first The micro switch 55 causes the first micro switch 55 to send a first feedback signal to the tripod control module 51. After receiving the first feedback signal, the tripod control module 51 determines that the aircraft tripod is deployed to the support position, and then sends an deployment stop signal to the aircraft tripod drive motor 52.
  • the aircraft tripod control system also includes a second microswitch 56.
  • the second micro switch 56 is mounted to the skeleton of the aircraft and electrically connected to the tripod control module 51, and when the aircraft tripod is recovered to the stowed position, the aircraft tripod touches the second The micro switch 56 causes the second micro switch 56 to send a second feedback signal to the tripod control module 51. After receiving the second feedback signal, the tripod control module 51 determines that the aircraft tripod is recovered to the stowage position, and then sends a recovery stop signal to the aircraft tripod drive motor 52.
  • the tripod deployment command and the tripod recovery command are issued by the flight control module 6 of the aircraft.
  • the aircraft stand control system further includes a height detecting module 57.
  • the height detection module 57 is used to measure the flying height of the aircraft and to issue the flying height of the aircraft to the flight control module 6.
  • the flight control module 6 determines the flying height of the aircraft. When the flying height of the aircraft is lower than a preset height, the flight control module 6 sends a tripod deployment instruction to the tripod control module 51. When the flying height of the aircraft is higher than a preset height, the flight control module 6 approaches the foot The rack control module 51 sends a tripod recovery command.
  • the aircraft stand control system further includes a tripod remote control module 58.
  • the tripod remote control module 58 is configured to remotely issue a tripod deployment command and a tripod recovery command to the flight control module 6, wherein the tripod deployment command and the tripod recovery command are not simultaneously issued. After the flight control module 6 receives the tripod deployment command, sends a tripod deployment command to the tripod control module 51; when the flight control module 6 receives the tripod recovery command, controls the tripod Module 51 sends a tripod recycle command.
  • the first micro switch 55 and the second micro switch 56 are used in place of the potentiometer 59 to perform feedback of signals to determine whether the aircraft stand 2 is deployed to the support position or whether it is recycled to the stowed position.
  • the potentiometer 59 is mounted on the skeleton of the aircraft, and the knob of the potentiometer 59 is coaxial with the axis of the aircraft tripod drive motor 52 and the knob rotates synchronously with the crankshaft.
  • the potentiometer 59 is configured to send a third feedback signal to the stand control module 51 when the aircraft stand 2 is deployed to a support position, and to the stand when the aircraft stand 2 is retracted to the stowed position
  • the control module 51 sends a fourth feedback signal. After receiving the third feedback signal, the tripod control module 51 determines that the aircraft tripod 2 is deployed to the support position, and after receiving the fourth feedback signal, determining that the aircraft tripod 2 is recycled to the gathering position. .
  • the bit is, for example, a Hall element, a grating, or the like.
  • this embodiment is applied to the aircraft shown in Figure 4, which has four aircraft tripods (i.e., aircraft stand 2).
  • FIG. 11 is a schematic diagram of an embodiment corresponding to a specific application of FIG. 9.
  • there are four aircraft tripod drive motors 52 which are respectively a first aircraft tripod drive motor 521 and a second aircraft.
  • the rack 23, the third aircraft tripod 24, and the fourth aircraft tripod 25) are in one-to-one correspondence to respectively control the retraction of the four aircraft tripods, that is, the first aircraft tripod drive motor 521 corresponds to the first aircraft tripod 22 Controlling the retraction of the first aircraft tripod 22, the second aircraft tripod drive motor 522 corresponds to the second aircraft tripod 23 to control the retraction of the second aircraft tripod 23, and the third aircraft tripod drive motor 523 corresponds to the
  • the three aircraft stand 24 controls the retraction of the third aircraft stand 24, and the fourth aircraft stand drive motor 524 corresponds to the fourth aircraft stand 25 to control the retraction of the fourth
  • the first micro switch 55 has four, which are a first micro switch A551, a first micro switch B552, a first micro switch C553 and a first micro switch D554, four A micro switch 55 is mounted on the skeleton of the aircraft and electrically connected to the tripod control module 51.
  • the four first micro switch 55 are in one-to-one correspondence with the four aircraft tripods 2, and any one of the aircraft tripods 2 When unfolding to the support position, it only touches the first micro switch 55 corresponding thereto, and then feeds back to the tripod control module 51 through the first micro switch 55, and the tripod control module 51 determines that the aircraft stand 2 is deployed to The support position further transmits a deployment stop signal to the aircraft stand drive motor 52 corresponding to the aircraft stand 2.
  • the second micro switch 56 has four, which are a second micro switch A561, a second micro switch B562, a second micro switch C563, and a second micro switch D564, four
  • the two micro-switches 56 are respectively mounted on the skeleton of the aircraft and electrically connected to the tripod control module 51.
  • the four second micro-switches 56 are in one-to-one correspondence with the four aircraft tripods 2, and any one of the aircraft tripods 2 When it is recycled to the gathering position, it only touches the second micro switch 56 corresponding thereto, and then feeds back to the tripod control module 51 through the second micro switch 56, and the tripod control module 51 determines that the aircraft tripod is recycled to the folding position.
  • the position further transmits a recovery stop signal to the aircraft tripod drive motor 52 corresponding to the aircraft stand 2.
  • FIG. 12 is a schematic diagram of an embodiment corresponding to one specific application of FIG. 10.
  • the difference from the embodiment of FIG. 11 is that the embodiment shown in FIG. 12 replaces the first micro switch 55 and the second with a potentiometer 59.
  • the microswitch 56 performs a feedback of the signal to determine if the aircraft stand 2 is deployed to the support level or whether it is retracted to the stowed position.
  • potentiometers 59 which are a first potentiometer 591, a second potentiometer 592, a third potentiometer 593 and a fourth potentiometer 594, respectively, and four potentiometers 59 and four aircraft tripods 2, respectively.
  • the first potentiometer 591 corresponds to the first aircraft tripod 22
  • the second potentiometer 592 corresponds to the second aircraft foot
  • the frame 23, the third potentiometer 593 corresponds to the third aircraft stand 24, and the fourth potentiometer 594 corresponds to the fourth aircraft stand 25.
  • An embodiment of the present invention also provides an aircraft that employs the aircraft stand control system of the above embodiment.
  • the aircraft tripod control method and system of the invention realizes the automatic opening and closing of the aircraft tripod.
  • the automatic opening and closing can be automatically performed, the aircraft tripod can be stored and saved conveniently when not in use, thereby solving the existing aircraft due to The tripod is fixed and cannot be opened and closed.
  • the aircraft tripod is automatically recovered in the air, and the recovered aircraft tripod will not be used for the aircraft because it will not be externally supported by the aircraft body. Interference caused by work such as detection.
  • the invention enables the aircraft tripod to be automatically opened, thereby combining the height feedback of the height detecting module of the present invention or the remote control of the remote controller, so that the aircraft tripod can be automatically deployed to the support position in time before the aircraft is landed, thereby The smooth support of the landing surface provides a reliable guarantee.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Toys (AREA)
  • Studio Devices (AREA)

Abstract

一种飞行器脚架（2），脚架（2）可活动地与飞行器主体连接，脚架（2）可转动至至少一个第一位置和一个第二位置，在第一位置，脚架与飞行器主体之间具有一角度，在第二位置，脚架（2）与飞行器主体基本靠拢或者至少部分地设置在飞行器主体之内。这样的脚架便于飞行器的收纳存放。还公开了该脚架的控制方法和具有该脚架的飞行器以及飞行器的控制方法。

Description

一种飞行器脚架、飞行器及控制方法 技术领域
本发明属于飞行器领域，具体地说，涉及一种飞行器脚架、飞行器及控制方法。
背景技术
目前，飞行器或无人机已经越来越广泛地应用于社会生活中，对于人难以到达的地方进行近距离观测，或者进行高空俯拍，进而为观测、拍摄提供了便利。
现有的飞行器往往由飞行器机身和从飞行器机身向外侧四周伸展出的机臂构成，机臂的外端部安装电机和螺旋桨，进而驱动飞行器的飞行，飞行器的下部还设置有脚架，以便于飞行器的着陆。
但是，现有的飞行器中，所伸展出的机臂和脚架都是与机身呈固定连接的方式，在使用之余，臂展较大使得飞行器对存放空间的较高要求，同时出于飞行器自身需要减重的考虑，飞行器中各个部分的结构也设计的相对简洁，因此，臂展较大也导致了存放不当所导致的易于折损的危险。
因此，设计一种在不使用时便于存放的飞行器便成为了一个重要的研究方向。同时为了实现这种飞行器，诸如飞行器的骨架机构、能够实现飞行器机臂的展开和回收的飞行器的机臂锁紧驱动机构、飞行器的机臂以及能够实现飞行器脚架的展开和回收的飞行器的脚架驱动机构等等，均需要进行新的开发。
有鉴于此特提出本发明。
发明内容
本发明要解决的技术问题在于克服现有技术的不足，提供一种飞行器脚架、飞行器及控制方法，以实现飞行器脚架的自动开合，解决已有飞行器脚架无法开合所导致的收纳不便和飞行控制不便等问题。
为解决上述技术问题，本发明采用技术方案的基本构思是：
一种飞行器脚架，所述飞行器脚架可活动地与飞行器主体连接，所述飞行器脚架可转动至至少一个第一位置和一个第二位置；所述第一位置为：所述飞行器脚架与飞行器主体的之间具有一角度，所述第二位置为：所述飞行器脚架与飞行器主体基本靠拢、或者飞行器脚架至少部分设置在飞行器主体之内。
进一步地，所述飞行器主体的长轴与飞行器主体的重心轴线平行或重合，所述脚架的自由端相对于所述飞行器主体的重心轴线的角度变化上具有自由度。
进一步地，在所述第一位置，所述飞行器脚架的中心轴线的虚拟延长线与所述飞行器主体的重心轴线之间具有0至小于90度的角度；在所述第二位置，所述飞行器脚架的自由端高于飞行器脚架与飞行器主体的连接端。
进一步地，所述飞行器主体横截面为与所述飞行器主体的重心轴线轴对称的规则图形，优选所述飞行器主体横截面为凸多边形。
进一步地，所述飞行器主体外形为平滑过渡的闭合曲形包络面；优选所述飞行器主体外形为长轴方向平行或重合于无人机重心轴线的具有平滑闭合曲形包络面的椭球形。
进一步地，所述飞行器主体的外壳具有至少部分适配所述飞行器的脚架的开口槽或凹槽；优选所述飞行器主体的外壳具有适配所述飞行器的脚架的开口槽或凹槽，所述飞行器脚架至少部分设置在飞行器主体外壳的开口槽或凹槽内；
进一步地，所述飞行器脚架的一个侧部具有与飞行器主体的外壳接近的平滑过渡曲形，所述开口槽或凹槽可整体容纳所述飞行器脚架处于第二位置时所述脚架，以使所述脚架和飞行器主体的外壳共同构成外形为平滑过渡的闭合曲形包络面。
进一步地，所述脚架具有锁紧装置，可保持飞行器脚架在所述的第一位置时，所述飞行器脚架的自由 端低于飞行器脚架与飞行器主体的连接端。
进一步地，还包括脚架控制模块，所述脚架控制模块用于在接收到脚架展开指令后，控制飞行器脚架驱动电机展开飞行器脚架，当所述飞行器脚架展开至支撑位时，控制飞行器脚架驱动电机停止展开飞行器脚架，以及，在接收到脚架回收指令后，控制飞行器脚架驱动电机回收飞行器脚架，当所述飞行器脚架回收至收拢位时，控制飞行器脚架驱动电机停止回收飞行器脚架；
飞行器脚架驱动电机，所述飞行器脚架驱动电机安装于飞行器的骨架，用于在所述脚架控制模块的控制下展开或回收所述飞行器脚架。
进一步地，所述飞行器脚架控制系统还包括飞行器脚架锁紧电机和飞行器脚架锁紧机构；其中，所述脚架控制模块还用于在停止展开飞行器脚架之后，控制飞行器脚架锁紧电机以驱动飞行器脚架锁紧机构将所述飞行器脚架锁紧于所述支撑状态；所述飞行器脚架锁紧电机用于在所述脚架控制模块的控制下，驱动飞行器脚架锁紧机构将所述飞行器脚架锁紧于所述支撑状态。
进一步地，所述脚架控制模块还用于在接收到脚架回收指令后，并在控制飞行器脚架驱动电机回收飞行器脚架之前，控制飞行器脚架锁紧电机以驱动飞行器脚架锁紧机构将所述飞行器脚架进行解锁；所述飞行器脚架锁紧电机还用于在所述脚架控制模块的控制下，驱动飞行器脚架锁紧机构将所述飞行器脚架进行解锁。
进一步地，所述飞行器脚架控制系统还包括第一微动开关，其中，所述第一微动开关安装于所述飞行器的骨架并电连接于所述脚架控制模块，且当所述飞行器脚架展开至支撑位时，所述飞行器脚架触动所述第一微动开关，使得所述第一微动开关向所述脚架控制模块发送第一反馈信号；所述脚架控制模块接收到所述第一反馈信号后，确定所述飞行器脚架展开至支撑位。
进一步地，所述飞行器脚架控制系统还包括第二微动开关，其中，所述第二微动开关安装于所述飞行器的骨架并电连接于所述脚架控制模块，且当所述飞行器脚架回收至收拢位时，所述飞行器脚架触动所述第二微动开关，使得所述第二微动开关向所述脚架控制模块发送第二反馈信号；所述脚架控制模块接收到所述第二反馈信号后，确定所述飞行器脚架回收至收拢位。
进一步地，所述飞行器脚架控制系统还包括：电位器，所述电位器安装于飞行器的骨架，且所述电位器的旋钮与所述飞行器脚架驱动电机的机轴同轴而设并且所述旋钮随所述机轴同步转动，所述电位器用于当所述飞行器脚架展开至支撑位时向所述脚架控制模块发送第三反馈信号，当所述飞行器脚架回收至收拢位时向所述脚架控制模块发送第四反馈信号；所述脚架控制模块接收到所述第三反馈信号后，确定所述飞行器脚架展开至支撑位，接收到所述第四反馈信号后，确定所述飞行器脚架回收至收拢位。
进一步地，所述脚架展开指令和脚架回收指令由飞行器的飞行控制模块发出，所述飞行器脚架控制系统还包括：高度探测模块，所述高度探测模块用于测飞行器的飞行高度，并向所述飞行控制模块发出飞行器的飞行高度；所述飞行控制模块对飞行器的飞行高度进行判断，当所述飞行器的飞行高度低于预设定的高度时，所述飞行控制模块向所述脚架控制模块发送脚架展开指令，当所述飞行器的飞行高度高于预设定的高度时，所述飞行控制模块向所述脚架控制模块发送脚架回收指令。
进一步地，所述脚架展开指令和脚架回收指令由飞行器的飞行控制模块发出，所述飞行器脚架控制系统还包括：脚架遥控模块，所述脚架遥控模块用于向所述飞行控制模块遥控发出脚架展开命令和脚架回收命令；当所述飞行控制模块接收到脚架展开命令后，向所述脚架控制模块发送脚架展开指令；当所述飞行控制模块接收到脚架回收命令后，向所述脚架控制模块发送脚架回收指令。
一种飞行器，包括飞行器主体和可转动地设置在其上的飞行器脚架，所述飞行器主体的横截面为封闭曲线，所述飞行器主体上的第一点与所述飞行器的重心轴线的第一距离不同于所述飞行器主体上的第二点与所述飞行器的重心轴线的第二距离。
进一步地，所述飞行器主体横截面为轴对称的规则封闭曲线，所述飞行器主体沿着飞行器的重心轴线方向的每个横截面为相似几何形，优选所述飞行器主体横截面为凸多边形，更优选所述的飞行器主体在飞 行器的重心轴线的中部具有最大横截面，且沿着重心轴线从中部向两侧分别延伸的横截面逐渐变小。
进一步地，所述飞行器主体的外形为具有一长轴和一短轴的具有平滑闭合曲形包络面的部分椭球形或者椭球形，所述长轴与飞行器主体的重心轴线重合。
进一步地，所述飞行器脚架可转动地设置在飞行器主体的重心轴线的中部1/2之下的飞行器主体上，所述飞行器主体的外壳具有沿着飞行器主体的中心轴线方向设置的至少部分适配所述飞行器脚架的开口槽或凹槽。
进一步地，飞行器脚架的连接端可转动地设置在靠近所述开口槽或凹槽的一个端部，所述飞行器脚架的自由端在一个状态下可以收起并靠近所述开口槽或凹槽的另一个端部，所述连接端设置在飞行器主体的中心轴线的中部1/2之下的飞行器主体上。
进一步地，飞行器脚架具有与飞行器主体的外表面相近似的平滑曲形，以便所述飞行器脚架收起状态下飞行器脚架至少部分或全部嵌入所述开口槽或凹槽。
进一步地，所述飞行器与一表面的距离阈值等于或大于预设值时，飞行器脚架绕连接端转动，飞行器脚架自由端从飞行器拍摄器的拍摄视野内移出。
一种飞行器脚架控制方法，所述飞行器脚架可转动地设置在飞行器主体上或者之内，所述控制方法包括控制所述脚架收拢的步骤：所述收拢的步骤为控制所述的飞行器脚架从所述飞行器脚架与飞行器主体之间呈一角度以将飞行器支撑至与一表面有一间距的第一位置，转动至所述飞行器脚架收拢至与飞行器主体机壳基本靠拢、或者至少部分飞行器脚架设置在飞行器机壳之内的第二位置。
进一步地，控制所述飞行器脚架在所述第二位置时，所述飞行器脚架的自由端高于飞行器脚架与飞行器主体的连接端。
进一步地，还包括控制所述的飞行器脚架展开的步骤，所述展开的步骤为从所述的第二位置展开至飞行器脚架与飞行器主体之间呈一角度以将飞行器支撑至与一表面有一间距的第一位置。
进一步地，在执行所述的飞行器脚架展开的步骤之前，所述控制方法还包括判断所述的飞行器与一表面的距离，当所述的飞行器与一表面的距离的阈值低于或者等于预设值时，执行控制所述飞行器脚架展开的步骤。
进一步地，还包括止锁步骤，所述止锁步骤为在执行所述的飞行器脚架展开的步骤之后，控制止锁机构将所述的飞行器脚架锁紧在所述的第一位置。
进一步地，还包括在执行所述的飞行器脚架收拢的步骤之前，控制所述的脚架解锁的步骤，所述的解锁步骤包括控制所述的飞行器脚架从所述飞行器脚架与飞行器主体之间呈一角度以将飞行器支撑至与一表面有一间距的第一位置解除锁定。
进一步地，控制所述飞行器脚架在所述第二位置时，使所述飞行器脚架转动至与所述飞行器主体的外壳共同形成平滑闭合曲形包络面。
进一步地，控制所述飞行器脚架在所述第二位置时，使所述飞行器脚架转动至至少部分嵌入所述飞行器主体的外壳上沿其中心轴线方向上设置的开口槽或凹槽内，以与飞行器主体的外壳共同形成接近于多边形、圆形或者椭圆形的形状，其中，所述椭圆形的长轴与飞行器主体的重心轴线平行或重合。
进一步地，飞行器脚架的收拢步骤为：脚架控制模块接收到脚架回收指令后，控制飞行器脚架驱动电机回收飞行器脚架；当所述飞行器脚架回收至收拢位时，脚架控制模块控制飞行器脚架驱动电机停止回收飞行器脚架。
进一步地，飞行器脚架的展开步骤为：脚架控制模块接收到脚架展开指令后，控制飞行器脚架驱动电机展开飞行器脚架；当所述飞行器脚架展开至支撑位时，脚架控制模块控制飞行器脚架驱动电机停止展开飞行器脚架。
进一步，在所述飞行器脚架的展开方法中，在停止展开飞行器脚架之后，所述飞行器脚架的展开步骤还包括：脚架控制模块控制飞行器脚架锁紧电机以驱动飞行器脚架锁紧机构将所述飞行器脚架锁紧于所述支撑状态。
进一步，在所述飞行器脚架的收拢步骤中，在脚架控制模块接收到脚架回收指令后，并在控制飞行器脚架驱动电机回收飞行器脚架之前，所述飞行器脚架的收拢步骤还包括：脚架控制模块控制飞行器脚架锁紧电机以驱动飞行器脚架锁紧机构将所述飞行器脚架进行解锁。
进一步，在所述飞行器脚架的展开步骤中：所述脚架控制模块利用所述飞行器脚架展开至支撑位时触动的第一微动开关的反馈，确定所述飞行器脚架展开至支撑位。
进一步，在所述飞行器脚架的收拢步骤中：所述脚架控制模块利用所述飞行器脚架回收至收拢位时触动的微动开关的反馈，确定所述飞行器脚架回收至收拢位。
进一步，所述脚架控制模块利用旋钮与所述飞行器脚架驱动电机的机轴同轴而设并且所述旋钮随所述机轴同步转动的电位器所反馈的信号，确定所述飞行器脚架展开至支撑位或者回收至收拢位。
进一步，所述飞行器脚架控制方法还包括：探测飞行器的飞行高度；
当所述飞行器的飞行高度低于预设定的高度时，向所述脚架控制模块发送脚架展开指令；
当所述飞行器的飞行高度高于预设定的高度时，向所述脚架控制模块发送脚架回收指令。
一种飞行器的控制方法，所述飞行器包括飞行器主体和可转动地设置在其上的飞行器脚架，所述飞行器控制方法包括如下步骤：
(1)飞行器在储能部件控制下开始降落；
(2)在降落的过程中及降落时，控制所述飞行器脚架从靠近飞行器主体的第二位置转动至第一位置，在所述的第一位置，所述飞行器脚架自由端形成的虚拟平面位于飞行器主体的底部并且其二者之间有一间距。
进一步地，其中控制所述飞行器脚架从与飞行器主体基本靠拢、或者从飞行器脚架至少部分设置在飞行器主体之内的第二位置转动至第一位置；优选控制所述飞行器脚架从所述飞行器脚架的自由端高于飞行器脚架与飞行器主体的连接端和/或所述飞行器脚架的自由端高于所述飞行器主体的底部的第二位置转动至第一位置。
进一步地，其中控制所述飞行器脚架本体从具有一长轴和一短轴的具有平滑闭合曲形包络面的部分椭球形或者椭球形的飞行器主体基本靠拢、或者从飞行器脚架本体至少部分设置在具有一长轴和一短轴的具有平滑闭合曲形包络面的部分椭球形或者椭球形的飞行器主体之内的第二位置转动至第一位置。
采用上述技术方案后，本发明与现有技术相比具有以下有益效果。
本发明的飞行器脚架及控制方法实现了飞行器脚架的自动开合，一方面因为能够自动开合，进而在不使用时使得飞行器脚架能够进行收纳便于保存，解决了现有的飞行器由于脚架固定而无法开合，另一方面会在飞行器飞行中，飞行器脚架在空中进行自动回收，进而回收后的飞行器脚架由于不会外支于飞行器机体以外进而不会给飞行器的俯拍、探测等工作带来干扰。另外，本发明使得飞行器脚架能够自动开启，进而结合本发明中高度探测模块的高度反馈或者遥控器的遥控，使得飞行器降落之前能够及时自动地将飞行器脚架展开至支撑位，进而为飞行器在着陆面的平稳支撑提供了可靠保障。
下面结合附图对本发明的具体实施方式作进一步详细的描述。
附图说明
附图作为本申请的一部分，用来提供对本发明的进一步的理解，本发明的示意性实施例及其说明用于解释本发明，但不构成对本发明的不当限定。显然，下面描述中的附图仅仅是一些实施例，对于本领域普通技术人员来说，在不付出创造性劳动的前提下，还可以根据这些附图获得其他附图。在附图中：
图1为本发明的脚架位于第一位置时的结构示意图；
图2为本发明的脚架位于第二位置时的结构示意图；
图3为本发明控制步骤的流程示意图；
图4为本发明实施例所采用的飞行器示意图；
图5为本发明实施例所采用的一飞行器脚架驱动机构结构示意图；
图6为本发明实施例所采用的又一飞行器脚架驱动机构结构示意图；
图7为本发明实施例所采用的飞行器脚架结构示意图；
图8为本发明一实施例中的流程图示意图；
图9为本发明又一实施例中的流程图示意图；
图10为本发明再一实施例中的流程图示意图；
图11为本发明实施例中对应于图9的一个具体应用的实施例示意图；
图12为本发明实施例中对应于图10的一个具体应用的实施例示意图。
附图标号：1-外壳；2-飞行器脚架；21-飞行器脚架转轴；211-限位面；212-自由端；213-连接端；214-凹槽；22-第一飞行器脚架；23-第二飞行器脚架；24-第三飞行器脚架；25-第四飞行器脚架；201-电机；202-脚架转轴；203-蜗轮；204-蜗杆；3-机臂；4-骨架；5-脚架驱动机构；51-脚架控制模块；511-舵机；512-齿轮组；5121-第一传动齿轮；5122-第二传动齿轮；52-飞行器脚架驱动电机；521-第一飞行器脚架驱动电机；522-第二飞行器脚架驱动电机；523-第三飞行器脚架驱动电机；524-第四飞行器脚架驱动电机；53-飞行器脚架锁紧电机；54-飞行器脚架锁紧机构54；55-第一微动开关；56-第二微动开关；57-高度探测模块；58-脚架遥控模块；59-电位器；6-飞行控制模块；7-拍摄器。
需要说明的是，这些附图和文字描述并不旨在以任何方式限制本发明的构思范围，而是通过参考特定实施例为本领域技术人员说明本发明的概念。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对实施例中的技术方案进行清楚、完整地描述，以下实施例用于说明本发明，但不用来限制本发明的范围。
在本发明的描述中，需要说明的是，术语“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。
本发明在第一方面提供一种飞行器脚架2，所述飞行器脚架2可活动地与飞行器主体连接，所述飞行器脚架2可转动至至少一个第一位置和一个第二位置；所述第一位置为：所述飞行器脚架2与飞行器主体的之间具有一角度，所述第二位置为：所述飞行器脚架2与飞行器主体基本靠拢、或者飞行器脚架2至少部分设置在飞行器主体之内。
具体地，飞行器脚架2与飞行器主体转动连接，这里的转动可为绕某点或某轴在某一二维平面转动，也可以是绕某点在三维空间的转动；飞行器脚架2可从第一个位置转动至第二位置，其中，在第一位置时，飞行器脚架2与飞行器主体具有一夹角，飞行器脚架2展开，以便将飞行器主体支撑在脱离地面的一定高 度，这种情况通常是飞机起飞或降落阶段。在第二位置时，飞行器脚架2与飞行器主体基本靠拢，依附、紧贴的方式，亦或是飞行器脚架2位于飞行器主体之内，飞行器脚架2直接被飞行器主体纳入其中，飞行器脚架2在飞行器主体的轮廓包络之内，飞行器脚架2收拢。
飞行器的设计一般均采用中心轴线或长轴与水平面平行或与水平面夹角为锐角的形式，这里所说的中心轴线即为飞行器结构形体的中心线或中心延长线的轴线，可通过飞行器形体的中心轴线确定飞行器与水平向是否平行或夹角大小，当飞行器长轴与短轴的长度区别较为明显时，通过长轴、短轴确定飞行器与水平向是否平行或夹角大小更简便，长轴和短轴由飞行器的具体形体长短方向来确定，飞行器形体上较为长的方向为长轴向，相对较短的方向为短轴向，本发明的飞行器的中心轴较为明显，即长轴和短轴区分明显，本发明的飞行器的长轴垂直水平面，即长轴为垂直向，短轴为水平向，所述飞行器主体的长轴与飞行器主体的重心轴线平行或重合，所述飞行器脚架2的自由端212相对于所述飞行器主体的重心轴线的角度变化上具有自由度，飞行器均有一个重心轴线，将飞行器主体的长轴与其重心轴线平行设置，另飞行器脚架2在第二位置，即收拢在飞行器主体内时，可形成一个横向或水平向较小的结构，有利于减小飞行器的占用空间，同时在飞行器脚架2展开时不影响其飞行状态。飞行器脚架2可绕与飞行器主体连接端213转动，其可转动的端头-自由端212与飞行器主体的重心轴线的夹角会相应的改变，且该夹角的大小取决于飞行器脚架2转动的位置，应该被本领域技术人员所理解的是，这里所说的自由端212是该端相对飞行器主体产生了转动位移，例如采用摇杆机构、连杆结构或转动副连接，可以实现飞行器脚架2相对飞行器主体的转动，故飞行器脚架2至少包括连接端213、自由端212，其中，飞行器脚架2为单杆或连接杆，自由端212可以为一个或多个，飞行器脚架2同飞行器主体连接的连接端213为一个或多个。
飞行器脚架2绕着与飞行器主体连接处转动，在所述第一位置，所述飞行器脚架2的中心轴线的虚拟延长线与所述飞行器主体的重心轴线之间具有0至小于90度的角度；在所述第二位置，所述飞行器脚架2的自由端212高于飞行器脚架2与飞行器主体的连接端213。在第一位置时，飞行器的中心轴线或中心轴线的延长线与飞行器主体重心轴向的夹角为锐角，这里所说的中心轴线为飞行器形体几何中心线，优选地，夹角为30°～60°，在第二位置时，飞行器的自由端212在连接端213的水平面之上，飞行器脚架2的自由端212自下而上收拢，确保飞行器脚架2在展开时很好的支撑，收拢时可与飞行器主体靠拢或收入主体内。优选地，飞行器脚架2与飞行器主体铰接，飞行器脚架2包括连接端213和自由端212，飞行器脚架2通过连接端213与飞行器主体连接，自由端212可绕连接端213在某一面内旋转。进一步优选，飞行器脚架2与飞行器主体铰接，飞行器脚架2包括连接端213和自由端212，飞行器脚架2通过连接端213与飞行器主体连接，自由端212可绕连接端213在某一面内旋转。
为有利于飞行器的飞行的力学平衡和整体飞行器结构的美观，所述飞行器主体横截面为与所述飞行器主体的重心轴线轴对称的规则图形，优选所述飞行器主体横截面为凸多边形。飞行器主体横截面为一对称规则图形，主体横截面为凸多边形保证主体的周向受力均匀且主体重力可均布在结构上，利于飞行器受力和飞行。应该被本领域技术人员所理解的是，这里所说的凸多边形包括曲线组成的结构，即包括直线、弧线、曲线组成的平面图形，从几何上讲，点形成线，线形成面，弧线同样由多点连接构成，而点与点的连接均为直线，因此，弧形和曲线是两点距离无限小的直线段构成，凸多边形包括曲线组成的平面图形。
本发明所述飞行器主体外形为平滑过渡的闭合曲形包络面，应该被理解的是，闭合曲形包络面为环绕重心轴线在周向的封闭围合结构，采用平滑过渡的线、面的连接，使飞行器的整体结构流线更美观，也符合减小风阻的流体力学构造，此形式的结构可以是球体、椭球体，或者是球体的一部分、椭球体的一部分，亦或是其它符合平滑过渡、闭合曲形包络要求的体或体的一部分。优选地，所述飞行器主体外形为长轴方向平行或重合于无人机重心轴线的具有平滑闭合曲形包络面的椭球形，椭球形飞行器重心轴线与长轴重合，使其重心更稳定，在飞行器飞行时，有利于控制飞行器的转向、变速操作，飞行器飞行移动中，由于长轴向为垂直的重心向，飞行器的底部会以重心或重心轴线上的某点为固定点来摆动，且因为飞行器自身的重力，不会使飞行器发生重心不稳导致飞行器不规则运动的情况。
飞行器脚架2在第二位置时，与飞行器主体形成依附、紧贴或包括于内的关系，所述飞行器主体的外 壳1具有至少部分适配所述飞行器的飞行器脚架2的开口槽或凹槽214，所述飞行器主体的外壳1具有适配所述飞行器的飞行器脚架2的开口槽或凹槽214，所述飞行器脚架2至少部分设置在飞行器主体外壳1的开口槽或凹槽214内。在飞行器主体的外壳1设置开口槽或凹槽214，可将飞行器脚架2扣入该槽中，形成飞行器脚架2至少一部分位于该槽中，有利于脚板的收拢，也有效保证收拢后的飞行器脚架2不会出现位置偏移。
为使处于第二位置的飞行器脚架2，即收拢时的飞行器脚架2，更好的与飞行器主体的槽体配合，所述飞行器脚架2的一个侧部具有与飞行器主体的外壳1接近的平滑过渡曲形，所述开口槽或凹槽214可整体容纳所述飞行器脚架2处于第二位置时所述飞行器脚架2，以使所述飞行器脚架2和飞行器主体的外壳1共同构成外形为平滑过渡的闭合曲形包络面。飞行器脚架2位于第二位置时，整个飞行器脚架2处在槽体内，且飞行器脚架2有一部分与飞行器主体外壳1共同形成包络面，使收拢后的飞行器脚架2藏在主体外壳1内，减少占据空间，有利于飞行器脚架2的摆放、固定，同时使飞行器外形更完整、美观。
在飞行器脚架2位于第一位置时，即处于展开位置时，为使飞行器脚架2能稳固的支撑飞行器主体，所述飞行器脚架2具有锁紧装置，可保持飞行器脚架2在所述的第一位置时，所述飞行器脚架2的自由端212低于飞行器脚架2与飞行器主体的连接端213。在第一位置时飞行器脚架2的自由端212位于连接端213下面，设置一个锁紧机构，将飞行器脚架2的位置固定，增加飞行器脚架2的支撑稳定性，同时可使无人机在未启动电源等控制时，长时间处于该位置，锁紧机构为使飞行器脚架2处在一种状态。
本发明在第二方面提供一种飞行器，包括飞行器主体和可转动地设置在其上的飞行器脚架2，所述飞行器主体的横截面为封闭曲线，所述飞行器主体上的第一点与所述飞行器的重心轴线的第一距离不同于所述飞行器主体上的第二点与所述飞行器的重心轴线的第二距离。
具体地，飞行器包括主体和飞行器脚架2，主体横截面为封闭曲线，飞行器至少满足主体上有第一点与飞行器重心轴线的距离不等于主体上第二点与飞行器重心轴线的距离，只要飞行器主体上存在可以满足到重心轴线的距离不相同的至少两个点即可。这里的转动可为绕某点或某轴在某二维平面转动，也可以是绕某点在三维空间的转动，优选地，飞行器脚架2与飞行器主体铰接，飞行器脚架2包括连接端213和自由端212，飞行器脚架2通过连接端213与飞行器主体连接，自由端212可绕连接端213在某一面内旋转。
本发明所述飞行器主体横截面为轴对称的规则封闭曲线，所述飞行器主体沿着飞行器的重心轴线方向的每个横截面为相似几何形，主体的横截面为封闭曲线，在重心轴线上横截面的连接，形成一个圆滑曲面；轴对称的规则封闭曲线，使该主体的受力均匀，外形美观协调,优选地，所述飞行器主体横截面为凸多边形，这里所说的凸多边形包括曲线组成的结构，即包括直线、弧线、曲线组成的平面图形，从几何上讲，点形成线，线形成面，弧线同样由多点连接构成，而点与点的连接均为直线，因此，弧形和曲线是两点距离无限小的直线段构成。更优选地，所述的飞行器主体在飞行器的重心轴线的中部具有最大横截面，且沿着重心轴线从中部向两侧分别延伸的横截面逐渐变小，以飞行器主体的重心轴线的中部为分界线，向重心轴线的两端延伸，横截面逐渐减小，重心轴线中部的横截面面积为最大，重心轴线两端的横截面为最小，形成重心位于主体中部、主体上下两端较小的飞行器。
本发明所述飞行器主体的外形为具有一长轴和一短轴的具有平滑闭合曲形包络面的部分椭球形或者椭球形，所述长轴与飞行器主体的重心轴线重合。当长轴平行水平向或接近平行水平向，短轴平行重心轴或接近平行重心轴时，形成类似飞艇式的形状，当长轴平行重心轴或接近平行重心轴，短轴平行水平向或接近平行水平向时，形成类似蛋式的形状，优选地，长轴与重心轴线平行或基本平行。
飞行器脚架2用于支撑飞行器主体，飞行器脚架2包括与主体连接的连接端213、自由端212，所述飞行器脚架2可转动地设置在飞行器主体的重心轴线的中部1/2之下的飞行器主体上，所述飞行器主体的外壳1具有沿着飞行器主体的中心轴线方向设置的至少部分适配所述飞行器脚架2的开口槽或凹槽214，飞行器脚架2的连接端213可转动地设置在靠近所述开口槽或凹槽214的一个端部，所述飞行器脚架2的自由端212在一个状态下可以收起并靠近所述开口槽或凹槽214的另一个端部，所述连接端213设置在飞行器主体的中心轴线的中部1/2之下的飞行器主体上。将飞行器脚架2设置在重心轴线的中部以下的主体 上，在飞行器脚架2收拢时，可通过转动将飞行器脚架2收入主体上的槽体内，飞行器脚架2展开时，飞行器脚架2连接在主体下部，可为飞行器主体提供有利支撑，收拢的时候，又可以将飞行器脚架2收入槽体内，使得飞行器脚架2的收放更简单，且收拢后的飞行器脚架2位于飞行器主体槽，不影响整体美观。
在飞行器脚架2收拢后，为使飞行器脚架2与主体形成一体外观，整体更加美观，所述飞行器脚架2具有与飞行器主体的外表面相近似的平滑曲形，以便所述飞行器脚架2收起状态下飞行器脚架2至少部分或全部嵌入所述开口槽或凹槽214。在飞行器脚架2收拢在槽体内，近似的平滑曲形结构使飞行器脚架2与主体更协调，优选地，飞行器脚架2收起状态下飞行器脚架2全部嵌入所述开口槽或凹槽214，使飞行器脚架2整体位于槽内，仅有飞行器脚架2的一部分外表面与主体外表面共同形成飞行器整体外表面，更美观。
飞行器一般安装有拍摄器7用于航拍等功能，拍摄器7多安装在飞行器底部，当飞行器脚架2的自由端212超过拍摄器7端部支撑飞行器时，飞行器脚架2某些部分会处在拍摄器7的拍摄视野中，为了利于拍摄视野不受阻挡，所述飞行器与一表面的距离阈值等于或大于预设值时，飞行器脚架2绕连接端213转动，飞行器脚架2自由端212从飞行器拍摄器7的拍摄视野内移出。飞行器待飞时，飞行器脚架2将飞行器支撑于一表面上，当飞行器起飞后，飞行器主体垂直距离该表面的高度达到预设值后，飞行器的飞行器脚架2会绕着连接端213转动，飞行器脚架2的自由端212从飞行器拍摄器7的拍摄视野内移出；在需要飞行器脚架2为飞行器提供支撑时，飞行器脚架2会执行上述反过程，重新进入拍摄器7的视野，为飞行器提供支撑。飞行器脚架2的转动调节机能为飞行器提供支撑，又可以为拍摄器7提供良好的拍摄视野，避免为了拍摄视野将拍摄器7伸出飞行器脚架2较远的位置或将飞行器脚架2水平延伸出拍摄器7的拍摄视野，造成飞行器设备尺寸较大、不利于存放收纳的问题。
本发明在第三方面提供一种飞行器脚架控制方法，所述飞行器脚架2可转动地设置在飞行器主体上或者之内，所述控制方法包括控制所述飞行器脚架2收拢的步骤：所述收拢的步骤为控制所述的飞行器脚架2从所述飞行器脚架2与飞行器主体之间呈一角度以将飞行器支撑至与一表面有一间距的第一位置，转动至所述飞行器脚架2收拢至与飞行器主体机壳基本靠拢、或者至少部分飞行器脚架2设置在飞行器机壳之内的第二位置。
具体地，飞行器脚架2作为支撑飞行器主体的构件，在飞行器飞行中或收纳飞行器时，将飞行器脚架2收合起来，利于飞行或存放，飞行器脚架2支撑飞行器主体或未收拢完毕时，飞行器脚架2与主体之间呈有夹角，或者说飞行器脚架2与主体的重心轴有夹角，即第一位置，飞行器脚架2收拢后与飞行器主体机壳基本靠拢或者至少部分飞行器脚架2在机壳之内，即第二位置，将飞行器脚架2从第一位置转动至第二位置实现对飞行器脚架2的收拢。
在飞行器脚架2被收拢后，控制所述飞行器脚架2在所述第二位置时，所述飞行器脚架2的自由端212高于飞行器脚架2与飞行器主体的连接端213，连接端213位于主体的下部，通过连接端213的转动，将自由端212合拢在机壳内或靠拢机壳，避免连接端213设置的位置较高，机架可以收拢但不能稳固支撑主体，或机架可以稳固支撑主体但无法收拢至机壳内的情况发生。
本发明所述的控制方法还包括控制所述的飞行器脚架2展开的步骤，所述展开的步骤为从所述的第二位置展开至飞行器脚架2与飞行器主体之间呈一角度以将飞行器支撑至与一表面有一间距的第一位置。展开的步骤是上述收拢的步骤的反向操作，将飞行器脚架2从第二位置转动至第一位置，该位置可以将飞行器主体支撑在某一表面上，即支架承在表面上，主体与该表面具有一段距离，优选地，该表面为平面或基本为平面。进一步优选，飞行器脚架2与飞行器主体铰接，飞行器脚架2包括连接端213和自由端212，飞行器脚架2通过连接端213与飞行器主体连接，自由端212可绕连接端213在某一面内旋转。
飞行器脚架2的收拢或展开需要既定的命令控制，在执行所述的飞行器脚架2展开的步骤之前，所述控制方法还包括判断所述的飞行器与一表面的距离，当所述的飞行器与一表面的距离的阈值低于或者等于预设值时，执行控制所述飞行器脚架2展开的步骤。飞行器在飞行中，实施展开的步骤前，控制展开飞行器脚架2的命令未下达至机械控制，飞行器脚架2仍处在第二位置，当飞行器飞行到某一高度时，可以实 现飞行器脚架2的展开，控制展开飞行器脚架2的命令触发，机械控制实施飞行器脚架2展开的步骤，此临界值定义为阈值，满足飞行器脚架2展开的预设高度定义为预设值，应该被理解的是，所述的阈值、预设值仅为触发命令的两个对比参考值，不做名词定义限定，仅需可以是实现界定的目的即可。
飞行器脚架2在支撑飞行器主体时，即飞行器脚架2位于第一位置时，需要飞行器脚架2进行不定时的支撑，因此，需要保证飞行器脚架2支撑的稳定性、耐久性，本发明所述的控制方法还包括止锁步骤，所述止锁步骤为在执行所述的飞行器脚架2展开的步骤之后，控制止锁机构将所述的飞行器脚架2锁紧在所述的第一位置。通过一锁紧机构的设置，在飞行器脚架2展开的步骤实施完毕，锁紧机构会触发启动，将飞行器脚架2的位置固定、锁紧在第一位置，使飞行器脚架2保持该状态。这里所说的锁紧机构不限制机械、电子或其他形式，仅需满足时飞行器脚架2固定或锁紧在第一位置即可，优选地，选用机械锁紧，锁紧后飞行器可以切断电源或切断飞行器脚架2控制。
应用锁紧机构，在对飞行器脚架2实施飞行器脚架2收拢的步骤时，需要对飞行器脚架2的锁紧状态进行解锁，本发明所述的控制方法还包括在执行所述的飞行器脚架2收拢的步骤之前，控制所述的飞行器脚架2解锁的步骤，所述的解锁步骤包括控制所述的飞行器脚架2从所述飞行器脚架2与飞行器主体之间呈一角度以将飞行器支撑至与一表面有一间距的第一位置解除锁定。解锁的步骤即使实现锁紧步骤的反向控制，在需要进行收拢的步骤时，控制锁紧机构进行解锁，使飞行器脚架2可以被收拢，解除上述锁紧状态。
飞行器脚架2收拢完毕，即飞行器脚架2位于第二位置时，飞行器脚架2整体与机壳靠拢或嵌入机壳内，控制所述飞行器脚架2在所述第二位置时，使所述飞行器脚架2转动至与所述飞行器主体的外壳1共同形成平滑闭合曲形包络面。控制所述飞行器脚架2在所述第二位置时，使所述飞行器脚架2转动至至少部分嵌入所述飞行器主体的外壳1上沿其中心轴线方向上设置的开口槽或凹槽214内，以与飞行器主体的外壳1共同形成接近于多边形、圆形或者椭圆形的形状，其中，所述椭圆形的长轴与飞行器主体的重心轴线平行或重合。应该被理解的是，闭合曲形包络面为环绕重心轴线在周向的封闭围合，采用平滑过渡的线、面的连接，使飞行器的整体结构流线更美观，也符合减小风阻的流体力学构造，此形式的结构可以是球体、椭球体，或者是球体的一部分、椭球体的一部分，亦或是其它符合平滑过渡、闭合曲形包络要求的体或体的一部分，椭球形飞行器重心轴线与长轴重合，使其重心更稳定，在飞行器飞行时，有利于控制飞行器的转向、变速操作，飞行器飞行移动中，由于长轴向为垂直的重心向，飞行器的底部会以重心为点摆动，且因为飞行器自身的重力，不会使飞行器发生重心不稳导致飞行器不规则运动的情况。在飞行器脚架2收拢在槽体内，近似的平滑曲形结构使飞行器脚架2与主体更协调，优选地，飞行器脚架2收起状态下飞行器脚架2全部嵌入所述开口槽或凹槽214，使飞行器脚架2整体位于槽内，仅有飞行器脚架2的一部分与主体共同形成飞行器整体外表面，更美观。
本发明在第四方面提供一种飞行器的控制方法，所述飞行器包括飞行器主体和可转动地设置在其上的飞行器脚架2，所述飞行器控制方法包括如下步骤：
(1)飞行器在储能部件控制下开始降落；
(2)在降落的过程中及降落时，控制所述飞行器脚架2从靠近飞行器主体的第二位置转动至第一位置，在所述的第一位置，所述飞行器脚架2自由端212形成的虚拟平面位于飞行器主体的底部并且其二者之间有一间距。
具体地，飞行器包括飞行器脚架2和主体，飞行器脚架2用于支撑主体，飞行器在空中落地前，飞行器下落，飞行器脚架2会从第一位置转动至第二位置，第二位置为飞行器脚架2靠近飞行器主体的位置，第一位置为飞行器脚架2展开形成在某一平面内的支撑，且飞行器主体与该平面具有距离，优选地，飞行器脚架2不少于两个，飞行器脚架2为包括自由端212和连接端213的结构，连接端213连接与飞行器主体，自由端212可绕连接端213转动，进一步优选，连接端213为铰接，飞行器脚架2为单杆结构。
其中控制所述飞行器脚架2从与飞行器主体基本靠拢、或者从飞行器脚架2至少部分设置在飞行器主体之内的第二位置转动至第一位置；优选控制所述飞行器脚架2从所述飞行器脚架2的自由端212高于飞 行器脚架2与飞行器主体的连接端213和/或所述飞行器脚架2的自由端212高于所述飞行器主体的底部的第二位置转动至第一位置。飞行器脚架2作为支撑飞行器主体的构件，在飞行器飞行中或收纳飞行器时，将飞行器脚架2收合起来，利于飞行或存放，飞行器脚架2支撑飞行器主体或未收拢完毕时，飞行器脚架2与主体之间呈有夹角，或者说飞行器脚架2与主体的重心轴有夹角，即第一位置，飞行器脚架2收拢后与飞行器主体机壳基本靠拢或者至少部分飞行器脚架2在机壳之内，即第二位置，将飞行器脚架2从第一位置转动至第二位置实现对飞行器脚架2的收拢。连接端213位于主体的下部，通过连接端213的转动，将自由端212合拢在机壳内或靠拢机壳，避免连接端213设置的位置较高，机架可以收拢但不能稳固支撑主体，或机架可以稳固支撑主体但无法收拢至机壳内的情况发生。
控制所述飞行器脚架主体从具有一长轴和一短轴的具有平滑闭合曲形包络面的部分椭球形或者椭球形的飞行器主体基本靠拢、或者从飞行器脚架2主体至少部分设置在具有一长轴和一短轴的具有平滑闭合曲形包络面的部分椭球形或者椭球形的飞行器主体之内的第二位置转动至第一位置。当长轴平行水平向或接近平行水平向，短轴平行重心轴或接近平行重心轴时，形成类似飞艇式的形状，当长轴平行重心轴或接近平行重心轴，短轴平行水平向或接近平行水平向时，形成类似蛋式的形状，优选地，长轴与重心轴线平行或基本平行。
应该被理解的是，闭合曲形包络面为环绕重心轴线在周向的封闭围合，采用平滑过渡的线、面的连接，使飞行器的整体结构流线更美观，也符合减小风阻的流体力学构造，此形式的结构可以是球体、椭球体，或者是球体的一部分、椭球体的一部分，亦或是其它符合平滑过渡、闭合曲形包络的要求。以下结合具体附图说明实施情况：
如图4所示，该飞行器在使用时将机臂和脚架展开以执行飞行操作和降落支撑，在不使用时将机臂和脚架收纳于机臂的外壳内，并且整个外壳连同机臂和脚架收纳后所曝露于外的机臂覆盖板和脚架覆盖板共同形成椭球状，进而起到了在不使用飞行器时对飞行器内部设备和机臂、脚架的保护，也便于对收纳机臂和脚架后的飞行器的放置，节省飞行器的放置空间。
该飞行器包括外壳1、飞行器脚架2、机臂3和骨架4。其中，所述外壳1固定安装于所述骨架4，所述外壳1具有呈闭合曲面形状的外包络面，并且所述外壳1开设有脚架开口槽和机臂开口槽。所述飞行器脚架2在所述脚架开口槽处转动安装于所述骨架4，所述飞行器脚架2具有从所述脚架开口槽伸展至所述外壳1以外或者回收至所述外壳1以内的自由度。所述机臂3在所述机臂开口槽处转动安装于所述骨架4，所述机臂3具有从所述机臂开口槽伸展至所述外壳1以外或者回收至所述外壳1以内的自由度。
本发明实施例中，所述飞行器脚架2和脚架开口槽的数量、以及所述机臂3和机臂开口槽的数量均为多个。飞行器脚架2与机臂3交替布置，并且，脚架开口槽与机臂开口槽交替布置。进一步地，所述飞行器脚架2的数量与机臂3的数量相同，脚架开口槽的数量与机臂开口槽的数量相同。进一步地，飞行器脚架2、机臂3、脚架开口槽以及机臂开口槽的数量均为四个。
如图5所示，该脚架驱动机构5包括舵机511和齿轮组512。其中，所述舵机511通过脚架安装座固定于飞行器的骨架4。所述齿轮组512安装于舵机511的机轴和飞行器脚架转轴21之间，以在所述舵机511的作用下控制所述飞行器脚架2的伸展和回收。
其中，所述齿轮组512包括第一传动齿轮5121和第二传动齿轮5122。所述第一传动齿轮5121安装于所述舵机511的机轴，以随所述舵机511的机轴的旋转而旋转。所述第二传动齿轮5122安装于飞行器脚架转轴21，并且所述第二传动齿轮5122与所述第一传动齿轮5121相啮合，在所述第一传动齿轮5121旋转时带动所述第二传动齿轮5122的旋转，进而控制所述飞行器脚架2的展开和回收。
如图6所示，该脚架驱动机构包括传动机构，传动机构安装在飞行器主体上或与主体连接的固定装置上，为传动机构提供支撑基座，传动机构包括电机201、蜗轮蜗杆，蜗轮蜗杆包括蜗轮203、蜗杆204，电机201与蜗杆204传动相连，蜗杆204传动连接蜗轮203，蜗轮203连接在飞行器脚架2上，飞行器脚架2通过脚架转轴202可转动的连接在主体上或与主体连接的固定部分上，飞行器脚架2可绕脚架转轴202转动，其动力输出源为电机201，通过电机201驱动蜗杆204再传动蜗轮203，蜗轮203带动脚架转轴202 和飞行器脚架2转动，实现动力传输，最后通过蜗轮203传输至脚架转轴202上实现了对飞行器脚架2的开合控制。
本领域技术人员应该理解的是，图5、图6仅示出了本发明脚架驱动机构的优选的实施结构，不做为本发明脚架驱动机构的具体限定，还可以采用皮带传动、链条传动或是其他形式的传动等，以达到本发明所述脚架配合控制组件实现展开、收拢的目的。
如图7并参照图5所示，所述飞行器脚架转轴21开设有限位面211，所述第二传动齿轮5122通过所述限位面211以限制其与所述飞行器脚架转轴21之间的相对转动，进而使得所述飞行器脚架2能够随所述第二传动齿轮5122的旋转而展开和回收。
如图8所示，本发明的飞行器脚架控制方法包括：
步骤1、脚架控制模块等待接收指令，根据所接收的指令选择进入步骤2或者步骤2’；
步骤2、脚架控制模块接收到脚架展开指令后，控制飞行器脚架驱动电机展开飞行器脚架，之后进入步骤3；
步骤3、当所述飞行器脚架展开至支撑位时，脚架控制模块控制飞行器脚架驱动电机停止展开飞行器脚架，之后返回步骤1；
步骤2’、脚架控制模块接收到脚架回收指令后，控制飞行器脚架驱动电机回收飞行器脚架，之后进入步骤3’；
步骤3’、当所述飞行器脚架回收至收拢位时，脚架控制模块控制飞行器脚架驱动电机停止回收飞行器脚架，之后返回步骤1。
上述飞行器脚架控制方法中，步骤2至步骤3为飞行器脚架的展开方法，步骤2’至步骤3’为飞行器脚架的回收方法。
其中，在所述飞行器脚架的展开方法中，在停止展开飞行器脚架之后，即在完成步骤3之后并在返回步骤1之前，所述飞行器脚架的展开方法还包括：
步骤4、脚架控制模块控制飞行器脚架锁紧电机以驱动飞行器脚架锁紧机构将所述飞行器脚架锁紧于所述支撑状态，之后返回步骤1。
其中，在所述飞行器脚架的回收方法中，在脚架控制模块接收到脚架回收指令后，并在控制飞行器脚架驱动电机回收飞行器脚架之前(即在步骤2’中，在脚架控制模块接收到脚架回收指令后，并在控制飞行器脚架驱动电机回收飞行器脚架之前)，所述飞行器脚架的回收方法还包括：
脚架控制模块控制飞行器脚架锁紧电机以驱动飞行器脚架锁紧机构将所述飞行器脚架进行解锁。
本发明的一个具体实施例中，对于飞行器脚架的展开和回收的最后的停止位置，由安装于飞行器骨架的微动开关控制，当展开至支撑位或者回收至收拢位时，恰好触动相应的微动开关，进而由所触动的微动开关向脚架控制模块反馈相应的信号以表明飞行器脚架已经展开至支撑位或者已经回收至收拢位，进而触发脚架控制模块向飞行器脚架驱动电机发出停止信号。
具体地，本发明的飞行器脚架控制方法实施例中：在所述飞行器脚架的展开方法中，所述脚架控制模块利用所述飞行器脚架展开至支撑位时触动的第一微动开关的反馈，确定所述飞行器脚架展开至支撑位；在所述飞行器脚架的回收方法中：所述脚架控制模块利用所述飞行器脚架回收至收拢位时触动的微动开关的反馈，确定所述飞行器脚架回收至收拢位。
本发明的另一个具体实施例中，对于飞行器脚架的展开和回收的最后的停止位置，可由旋钮与所述飞行器脚架驱动电机的机轴同轴而设并且所述旋钮随所述机轴同步转动的电位器确定。因为电位器的旋钮的旋转角度的改变会导致电位器输出电压的变化，因此，在飞行器脚架处于支撑位时、处于收拢位时以及处于吃成为和收拢位中间的状态时，电位器的输出电压均不相同，进而通过判断电位器的输出电压的大小即 可判断出飞行器是否展开至支撑位或者是否回收至收拢位。
具体地，本发明的飞行器脚架控制方法的实施例中：在所述飞行器脚架的展开方法中，所述脚架控制模块利用所述飞行器脚架展开至支撑位时该电位器的反馈，确定所述飞行器脚架展开至支撑位；在所述飞行器脚架的回收方法中：所述脚架控制模块利用所述飞行器脚架回收至收拢位时该电位器的反馈，确定所述飞行器脚架回收至收拢位。
另外，为了实现飞行器飞行过程中对飞行器脚架展开、回收的自动控制，本发明的飞行器脚架控制方法还包括以下步骤：
步骤a、探测飞行器的飞行高度；
步骤b、当所述飞行器的飞行高度低于预设定的高度时，向所述脚架控制模块发送脚架展开指令；
步骤c、当所述飞行器的飞行高度高于预设定的高度时，向所述脚架控制模块发送脚架回收指令。
其中，预设定的高度范围可设置为0.5米至5米之间的任意一个高度值，例如可设定为0.5米、1米、1.5米、2米、2.5米、3米、3.5米、4米、4.5米、5米等。
本发明还提供了一种飞行器脚架控制系统，如图9所示，包括脚架控制模块51和飞行器脚架驱动电机52。其中，所述脚架控制模块51用于在接收到脚架展开指令后，控制飞行器脚架驱动电机52展开飞行器脚架2；当所述飞行器脚架2展开至支撑位时，控制飞行器脚架驱动电机52停止展开飞行器脚架2；以及，所述脚架控制模块51在接收到脚架回收指令后，控制飞行器脚架驱动电机52回收飞行器脚架2，当所述飞行器脚架2回收至收拢位时，控制飞行器脚架驱动电机52停止回收飞行器脚架2。所述飞行器脚架驱动电机52安装于飞行器的骨架，用于在所述脚架控制模块51的控制下展开或回收所述飞行器脚架2。
继续参见图9所示，所述飞行器脚架控制系统还包括飞行器脚架锁紧电机53和飞行器脚架锁紧机构54。其中，所述脚架控制模块51还用于在停止展开飞行器脚架2之后，控制飞行器脚架锁紧电机53以驱动飞行器脚架锁紧机构54将所述飞行器脚架2锁紧于所述支撑状态。所述飞行器脚架锁紧电机53用于在所述脚架控制模块51的控制下，驱动飞行器脚架锁紧机构54将所述飞行器脚架2锁紧于所述支撑状态。
所述脚架控制模块51还用于在接收到脚架回收指令后、并在控制飞行器脚架驱动电机53回收飞行器脚架2之前，控制飞行器脚架锁紧电机53以驱动飞行器脚架锁紧机构54将所述飞行器脚架2进行解锁。所述飞行器脚架锁紧电机53还用于在所述脚架控制模块51的控制下，驱动飞行器脚架锁紧机构54将所述飞行器脚架2进行解锁。
继续参见图9所示，所述飞行器脚架控制系统还包括第一微动开关55。所述第一微动开关55安装于所述飞行器的骨架并电连接于所述脚架控制模块51，且当所述飞行器脚架展开至支撑位时，所述飞行器脚架触动所述第一微动开关55，使得所述第一微动开关55向所述脚架控制模块51发送第一反馈信号。所述脚架控制模块51接收到所述第一反馈信号后，确定所述飞行器脚架展开至支撑位，进而向飞行器脚架驱动电机52发送展开停止信号。
所述飞行器脚架控制系统还包括第二微动开关56。所述第二微动开关56安装于所述飞行器的骨架并电连接于所述脚架控制模块51，且当所述飞行器脚架回收至收拢位时，所述飞行器脚架触动所述第二微动开关56，使得所述第二微动开关56向所述脚架控制模块51发送第二反馈信号。所述脚架控制模块51接收到所述第二反馈信号后，确定所述飞行器脚架回收至收拢位，进而向飞行器脚架驱动电机52发送回收停止信号。
本发明实施例中，继续参见图9所示，所述脚架展开指令和脚架回收指令由飞行器的飞行控制模块6发出。本发明实施例中，所述飞行器脚架控制系统还包括高度探测模块57。所述高度探测模块57用于测飞行器的飞行高度，并向所述飞行控制模块6发出飞行器的飞行高度。所述飞行控制模块6对飞行器的飞行高度进行判断，当所述飞行器的飞行高度低于预设定的高度时，所述飞行控制模块6向所述脚架控制模块51发送脚架展开指令，当所述飞行器的飞行高度高于预设定的高度时，所述飞行控制模块6向所述脚 架控制模块51发送脚架回收指令。
另外，本发明实施例中，所述飞行器脚架控制系统还包括脚架遥控模块58。所述脚架遥控模块58用于向所述飞行控制模块6遥控发出脚架展开命令和脚架回收命令，其中所述脚架展开命令和脚架回收命令不可同时发出。当所述飞行控制模块6接收到脚架展开命令后，向所述脚架控制模块51发送脚架展开指令；当所述飞行控制模块6接收到脚架回收命令后，向所述脚架控制模块51发送脚架回收指令。
图10所示实施例中，是利用电位器59取代第一微动开关55和第二微动开关56进行信号的反馈以确定所述飞行器脚架2是否展开至支撑位或者是否回收至收拢位。具体地，所述电位器59安装于飞行器的骨架，且所述电位器59的旋钮与所述飞行器脚架驱动电机52的机轴同轴而设并且所述旋钮随所述机轴同步转动，所述电位器59用于当所述飞行器脚架2展开至支撑位时向所述脚架控制模块51发送第三反馈信号，当所述飞行器脚架2回收至收拢位时向所述脚架控制模块51发送第四反馈信号。所述脚架控制模块51接收到所述第三反馈信号后，确定所述飞行器脚架2展开至支撑位，接收到所述第四反馈信号后，确定所述飞行器脚架2回收至收拢位。
当然，除了上述的利用微动开关或者电位器的方式实现对飞行器脚架2展开至支撑位以及回收至收拢位的确定以外，还可以采用其他方式确定飞行器脚架2的是否处于支撑位或者收拢位，例如采用霍尔元件、光栅等方式。
如图11所示，该具体实施例应用于图4所示的飞行器，该飞行器具有四个飞行器脚架(即飞行器脚架2)。
图11的实施例为对应于图9的一个具体应用的实施例示意图，图11的实施例中，飞行器脚架驱动电机52共有四个，分别为第一飞行器脚架驱动电机521、第二飞行器脚架驱动电机522、第三飞行器脚架驱动电机523和第四飞行器脚架驱动电机524，四个飞行器脚架驱动电机52与四个飞行器脚架(第一飞行器脚架22、第二飞行器脚架23、第三飞行器脚架24、第四飞行器脚架25)一一对应以分别控制四个飞行器脚架的收放，即第一飞行器脚架驱动电机521对应于第一飞行器脚架22以控制第一飞行器脚架22的收放，第二飞行器脚架驱动电机522对应于第二飞行器脚架23以控制第二飞行器脚架23的收放，第三飞行器脚架驱动电机523对应于第三飞行器脚架24以控制第三飞行器脚架24的收放，第四飞行器脚架驱动电机524对应于第四飞行器脚架25以控制第四飞行器脚架25的收放。
图11的实施例中，第一微动开关55共有四个，分别为第一微动开关A551、第一微动开关B552、第一微动开关C553和第一微动开关D554，四个第一微动开关55均安装于所述飞行器的骨架并电连接于所述脚架控制模块51，四个第一微动开关55与四个飞行器脚架2一一对应，任意一个飞行器脚架2展开至支撑位时，其仅触动与其对应的第一微动开关55，进而通过该第一微动开关55反馈至脚架控制模块51，进而脚架控制模块51确定该飞行器脚架2展开至支撑位，进而向该飞行器脚架2所对应的飞行器脚架驱动电机52发送展开停止信号。
图11的实施例中，第二微动开关56共有四个，分别为第二微动开关A561、第二微动开关B562、第二微动开关C563、第二微动开关D564，四个第二微动开关56均安装于所述飞行器的骨架并电连接于所述脚架控制模块51，四个第二微动开关56与四个飞行器脚架2一一对应，任意一个飞行器脚架2回收至收拢位时，其仅触动与其对应的第二微动开关56，进而通过该第二微动开关56反馈至脚架控制模块51，进而脚架控制模块51确定该飞行器脚架回收至收拢位，进而向该飞行器脚架2所对应的飞行器脚架驱动电机52发送回收停止信号。
如图12所示，与图11相同的是，图12的实施例应用于图4所示的飞行器，该飞行器具有四个飞行器脚架(即飞行器脚架2)。图12的实施例为对应于图10的一个具体应用的实施例示意图，与图11的实施例的区别在于，图12所示实施例是利用电位器59取代第一微动开关55和第二微动开关56进行信号的反馈以确定所述飞行器脚架2是否展开至支撑位或者是否回收至收拢位。图12中，电位器59为四个，分别为第一电位器591、第二电位器592、第三电位器593和第四电位器594，四个电位器59分别与四个飞行器脚架2一一对应，即第一电位器591对应于第一飞行器脚架22、第二电位器592对应于第二飞行器脚 架23、第三电位器593对应于第三飞行器脚架24、第四电位器594对应于第四飞行器脚架25。
本发明实施例还提供了一种飞行器，该飞行器采用上述实施例的飞行器脚架控制系统。
本发明的飞行器脚架控制方法和系统实现了飞行器脚架的自动开合，一方面因为能够自动开合，进而在不使用时使得飞行器脚架能够进行收纳便于保存，解决了现有的飞行器由于脚架固定而无法开合，另一方面会在飞行器飞行中，飞行器脚架在空中进行自动回收，进而回收后的飞行器脚架由于不会外支于飞行器机体以外进而不会给飞行器的俯拍、探测等工作带来干扰。另外，本发明使得飞行器脚架能够自动开启，进而结合本发明中高度探测模块的高度反馈或者遥控器的遥控，使得飞行器降落之前能够及时自动地将飞行器脚架展开至支撑位，进而为飞行器在着陆面的平稳支撑提供了可靠保障。
以上所述仅是本发明的较佳实施例而已，并非对本发明作任何形式上的限制，虽然本发明已以较佳实施例揭露如上，然而并非用以限定本发明，任何熟悉本专利的技术人员在不脱离本发明技术方案范围内，当可利用上述提示的技术内容作出些许更动或修饰为等同变化的等效实施例，但凡是未脱离本发明技术方案的内容，依据本发明的技术实质对以上实施例所作的任何简单修改、等同变化与修饰，均仍属于本发明方案的范围内。

Claims (25)

  1. 一种飞行器脚架，所述飞行器脚架可活动地与飞行器主体连接，所述飞行器脚架可转动至至少一个第一位置和一个第二位置；所述第一位置为：所述飞行器脚架与飞行器主体的之间具有一角度，所述第二位置为：所述飞行器脚架与飞行器主体基本靠拢、或者飞行器脚架至少部分设置在飞行器主体之内。
  2. 根据权利要求1所述飞行器脚架，其特征在于：所述飞行器主体的长轴与飞行器主体的重心轴线平行或重合，所述脚架的自由端相对于所述飞行器主体的重心轴线的角度变化上具有自由度。
  3. 根据权利要求1所述飞行器脚架，其特征在于：在所述第一位置，所述飞行器脚架的中心轴线的虚拟延长线与所述飞行器主体的重心轴线之间具有0至小于90度的角度；在所述第二位置，所述飞行器脚架的自由端高于飞行器脚架与飞行器主体的连接端。
  4. 根据权利要求1或2所述飞行器脚架，其特征在于：所述飞行器主体横截面为与所述飞行器主体的重心轴线轴对称的规则图形，优选所述飞行器主体横截面为凸多边形。
  5. 根据权利要求4所述飞行器脚架，其特征在于：所述飞行器主体外形为平滑过渡的闭合曲形包络面；优选所述飞行器主体外形为长轴方向平行或重合于无人机重心轴线的具有平滑闭合曲形包络面的椭球形。
  6. 根据权利要求1至5任何一项所述飞行器脚架，其特征在于：所述飞行器主体的外壳具有至少部分适配所述飞行器的脚架的开口槽或凹槽；优选所述飞行器主体的外壳具有适配所述飞行器的脚架的开口槽或凹槽，所述飞行器脚架至少部分设置在飞行器主体外壳的开口槽或凹槽内。
  7. 根据权利要求6所述飞行器脚架，其特征在于：所述飞行器脚架的一个侧部具有与飞行器主体的外壳接近的平滑过渡曲形，所述开口槽或凹槽可整体容纳所述飞行器脚架处于第二位置时所述脚架，以使所述脚架和飞行器主体的外壳共同构成外形为平滑过渡的闭合曲形包络面。
  8. 根据权利要求1所述飞行器脚架，其特征在于：所述脚架具有锁紧装置，可保持飞行器脚架在所述的第一位置时，所述飞行器脚架的自由端低于飞行器脚架与飞行器主体的连接端。
  9. 一种飞行器，包括飞行器主体和可转动地设置在其上的飞行器脚架，所述飞行器主体的横截面为封闭曲线，所述飞行器主体上的第一点与所述飞行器的重心轴线的第一距离不同于所述飞行器主体上的第二点与所述飞行器的重心轴线的第二距离。
  10. 根据权利要求9所述飞行器，其特征在于：所述飞行器主体横截面为轴对称的规则封闭曲线，所述飞行器主体沿着飞行器的重心轴线方向的每个横截面为相似几何形，优选所述飞行器主体横截面为凸多边形，更优选所述的飞行器主体在飞行器的重心轴线的中部具有最大横截面，且沿着重心轴线从中部向两侧分别延伸的横截面逐渐变小。
  11. 根据权利要求9或10所述飞行器，其特征在于：所述飞行器主体的外形为具有一长轴和一短轴的具有平滑闭合曲形包络面的部分椭球形或者椭球形，所述长轴与飞行器主体的重心轴线重合。
  12. 根据权利要求9至11任何一项所述飞行器，其特征在于：所述飞行器脚架可转动地设置在飞行器主体的重心轴线的中部1/2之下的飞行器主体上，所述飞行器主体的外壳具有沿着飞行器主体的中心轴线方向设置的至少部分适配所述飞行器脚架的开口槽或凹槽。
  13. 根据权利要求12所述飞行器，其特征在于：飞行器脚架的连接端可转动地设置在靠近所述开口槽或凹槽的一个端部，所述飞行器脚架的自由端在一个状态下可以收起并靠近所述开口槽或凹槽的另一个端部，所述连接端设置在飞行器主体的中心轴线的中部1/2之下的飞行器主体上。
  14. 根据权利要求13所述飞行器，其特征在于：飞行器脚架具有与飞行器主体的外表面相近似的平 滑曲形，以便所述飞行器脚架收起状态下飞行器脚架至少部分或全部嵌入所述开口槽或凹槽。
  15. 一种飞行器脚架控制方法，所述飞行器脚架可转动地设置在飞行器主体上或者之内，所述控制方法包括控制所述脚架收拢的步骤：所述收拢的步骤为控制所述的飞行器脚架从所述飞行器脚架与飞行器主体之间呈一角度以将飞行器支撑至与一表面有一间距的第一位置，转动至所述飞行器脚架收拢至与飞行器主体机壳基本靠拢、或者至少部分飞行器脚架设置在飞行器机壳之内的第二位置。
  16. 根据权利要求15所述飞行器脚架控制方法，其特征在于：控制所述飞行器脚架在所述第二位置时，所述飞行器脚架的自由端高于飞行器脚架与飞行器主体的连接端。
  17. 根据权利要求15所述飞行器脚架控制方法，其特征在于：还包括控制所述的飞行器脚架展开的步骤，所述展开的步骤为从所述的第二位置展开至飞行器脚架与飞行器主体之间呈一角度以将飞行器支撑至与一表面有一间距的第一位置。
  18. 根据权利要求17所述飞行器脚架控制方法，其特征在于：在执行所述的飞行器脚架展开的步骤之前，所述控制方法还包括判断所述的飞行器与一表面的距离，当所述的飞行器与一表面的距离的阈值低于或者等于预设值时，执行控制所述飞行器脚架展开的步骤。
  19. 根据权利要求17或18所述飞行器脚架控制方法，其特征在于：还包括止锁步骤，所述止锁步骤为在执行所述的飞行器脚架展开的步骤之后，控制止锁机构将所述的飞行器脚架锁紧在所述的第一位置。
  20. 根据权利要求19所述飞行器脚架控制方法，其特征在于：还包括在执行所述的飞行器脚架收拢的步骤之前，控制所述的脚架解锁的步骤，所述的解锁步骤包括控制所述的飞行器脚架从所述飞行器脚架与飞行器主体之间呈一角度以将飞行器支撑至与一表面有一间距的第一位置解除锁定。
  21. 根据权利要求19或20所述飞行器脚架控制方法，其特征在于：控制所述飞行器脚架在所述第二位置时，使所述飞行器脚架转动至与所述飞行器主体的外壳共同形成平滑闭合曲形包络面。
  22. 根据权利要求21所述飞行器脚架控制方法，其特征在于：控制所述飞行器脚架在所述第二位置时，使所述飞行器脚架转动至至少部分嵌入所述飞行器主体的外壳上沿其中心轴线方向上设置的开口槽或凹槽内，以与飞行器主体的外壳共同形成接近于多边形、圆形或者椭圆形的形状，其中，所述椭圆形的长轴与飞行器主体的重心轴线平行或重合。
  23. 一种飞行器的控制方法，所述飞行器包括飞行器主体和可转动地设置在其上的飞行器脚架，所述飞行器控制方法包括如下步骤：
    (1)飞行器在储能部件控制下开始降落；
    (2)在降落的过程中及降落时，控制所述飞行器脚架从靠近飞行器主体的第二位置转动至第一位置，在所述的第一位置，所述飞行器脚架自由端形成的虚拟平面位于飞行器主体的底部并且其二者之间有一间距。
  24. 根据权利要求23所述的飞行器的控制方法，其中控制所述飞行器脚架从与飞行器主体基本靠拢、或者从飞行器脚架至少部分设置在飞行器主体之内的第二位置转动至第一位置；优选控制所述飞行器脚架从所述飞行器脚架的自由端高于飞行器脚架与飞行器主体的连接端和/或所述飞行器脚架的自由端高于所述飞行器主体的底部的第二位置转动至第一位置。
  25. 根据权利要求24所述的飞行器的控制方法，其中控制所述飞行器脚架本体从具有一长轴和一短轴的具有平滑闭合曲形包络面的部分椭球形或者椭球形的飞行器主体基本靠拢、或者从飞行器脚架本体至少部分设置在具有一长轴和一短轴的具有平滑闭合曲形包络面的部分椭球形或者椭球形的飞行器主体之内的第二位置转动至第一位置。
PCT/CN2016/092978 2015-12-25 2016-08-02 一种飞行器脚架、飞行器及控制方法 WO2017107493A1 (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US16/090,030 US20190193844A1 (en) 2015-12-25 2016-08-02 Aircraft support leg, aircraft and control method
EP16877305.9A EP3412564A4 (en) 2015-12-25 2016-08-02 AIRCRAFT, PLANE AND CONTROL PROCEDURE

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN201510997626.9A CN105584621A (zh) 2015-12-25 2015-12-25 飞行器
CN201510997626.9 2015-12-25
CN201610121438.4 2016-03-03
CN201610121438.4A CN107128480B (zh) 2016-03-03 2016-03-03 一种飞行器脚架控制系统和方法

Publications (1)

Publication Number Publication Date
WO2017107493A1 true WO2017107493A1 (zh) 2017-06-29

Family

ID=59088994

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2016/092978 WO2017107493A1 (zh) 2015-12-25 2016-08-02 一种飞行器脚架、飞行器及控制方法

Country Status (3)

Country Link
US (1) US20190193844A1 (zh)
EP (1) EP3412564A4 (zh)
WO (1) WO2017107493A1 (zh)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6601468B2 (ja) * 2017-09-22 2019-11-06 カシオ計算機株式会社 飛行装置、飛行方法及びプログラム
JP1694319S (zh) * 2019-04-01 2021-09-06
US11845544B2 (en) * 2020-12-28 2023-12-19 Textron Innovations, Inc. Foldable aircraft
CN113415410A (zh) * 2021-07-31 2021-09-21 重庆交通大学 折叠式无人机机翼总成
USD1004005S1 (en) * 2022-01-26 2023-11-07 Playmind, Ltd. Toy space base

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2483881A (en) * 2010-09-22 2012-03-28 Thomas Irps A dual-function landing gear and rotor protector for a UAV
CN103072687A (zh) * 2011-10-26 2013-05-01 尤洛考普特公司 起落装置、飞行器以及由起落装置所实施的方法
CN204250363U (zh) * 2014-11-12 2015-04-08 雷虎科技股份有限公司 飞行器的结构
CN204726665U (zh) * 2015-06-29 2015-10-28 廖其凌 便携式可折叠双旋翼飞行器
CN204846362U (zh) * 2015-07-23 2015-12-09 致导科技（北京）有限公司 一种无人机起落架及具有其的无人机
CN204871591U (zh) * 2015-07-17 2015-12-16 零度智控（北京）智能科技有限公司 一种飞行器可收放起落架及飞行器
CN105584621A (zh) * 2015-12-25 2016-05-18 北京臻迪机器人有限公司 飞行器

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA2673642C (en) * 2007-02-28 2012-11-13 John M. Lawrence Dual rotor vertical takeoff and landing rotorcraft
CN104260605A (zh) * 2014-10-16 2015-01-07 北京理工大学 一种基于变胞原理的陆空两栖球形变胞机器人
CN104590556B (zh) * 2014-10-31 2017-06-27 易瓦特科技股份公司 一种可折叠式无人机
CN204713422U (zh) * 2015-03-31 2015-10-21 深圳一电科技有限公司 无人机系统及其无人机

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2483881A (en) * 2010-09-22 2012-03-28 Thomas Irps A dual-function landing gear and rotor protector for a UAV
CN103072687A (zh) * 2011-10-26 2013-05-01 尤洛考普特公司 起落装置、飞行器以及由起落装置所实施的方法
CN204250363U (zh) * 2014-11-12 2015-04-08 雷虎科技股份有限公司 飞行器的结构
CN204726665U (zh) * 2015-06-29 2015-10-28 廖其凌 便携式可折叠双旋翼飞行器
CN204871591U (zh) * 2015-07-17 2015-12-16 零度智控（北京）智能科技有限公司 一种飞行器可收放起落架及飞行器
CN204846362U (zh) * 2015-07-23 2015-12-09 致导科技（北京）有限公司 一种无人机起落架及具有其的无人机
CN105584621A (zh) * 2015-12-25 2016-05-18 北京臻迪机器人有限公司 飞行器

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP3412564A4 *

Also Published As

Publication number Publication date
EP3412564A1 (en) 2018-12-12
US20190193844A1 (en) 2019-06-27
EP3412564A4 (en) 2019-10-30

Similar Documents

Publication Publication Date Title
WO2017107493A1 (zh) 一种飞行器脚架、飞行器及控制方法
CN207000806U (zh) 一种机架
CN107416177B (zh) 一种仿生球形结构无人机
WO2017025060A1 (zh) 能垂直起降的固定翼飞机及其飞行控制方法
EP3632793B1 (en) Unmanned aerial vehicle and landing gear thereof
CN206954498U (zh) 一种垂直起降无人机升降式起落架
GB2588478A (en) A coaxial double-propeller vertical take-off and landing aircraft using moving mass control and a control method thereof
CN108501636A (zh) 一种水陆两栖飞机
CN107985574B (zh) 一种浮力辅升无人机
CN109278981B (zh) 一种微型可折叠三维实景建模无人机
CN207141361U (zh) 一种机臂及无人机
CN105752355A (zh) 一种可收放的云台机构
JP3207604U (ja) 折り畳み翼の玩具ヘリコプター
CN112793771A (zh) 一种机身可折叠无人机
CN209427026U (zh) 飞行器旋翼自动倾斜变距装置
CN218537086U (zh) 一种测绘航空摄影飞行器
CN209667365U (zh) 飞行器共轴双桨旋翼装置
CN207120872U (zh) 一种固定翼无人机
CN112203936A (zh) 无人机和无人机的脚架
CN207328807U (zh) 一种仿生球形结构无人机
CN207173966U (zh) 悬停及飞行装置
CN206664930U (zh) 折叠式无人机
WO2018095238A1 (zh) 无人飞行器及其起落架装置
CN109018348A (zh) 空陆两用侦查无人机
JP2010280252A (ja) 飛行機の垂直尾翼

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16877305

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

WWE Wipo information: entry into national phase

Ref document number: 2016877305

Country of ref document: EP

ENP Entry into the national phase

Ref document number: 2016877305

Country of ref document: EP

Effective date: 20180725