WO2022141269A1

WO2022141269A1 - Flight device, handheld gimbal, and flight kit

Info

Publication number: WO2022141269A1
Application number: PCT/CN2020/141707
Authority: WO
Inventors: 肖翔
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-12-30
Filing date: 2020-12-30
Publication date: 2022-07-07
Also published as: CN114981165A

Abstract

A flight device (100), a handheld gimbal (200), and a flight kit. The flight device comprises: a body (101); arms (102), multiple arms (102) being rotatably connected to the body (101), such that the flight device (100) has a folded state and an unfolded state, and in the folded state, the portions of the multiple arms (102) away from the body (101) being substantially fitted; and a power system provided on the arms (102) and used for providing flight power to the flight device (100); wherein the body (101) comprises a connection portion (1011) and is configured to be detachably connected to the handheld gimbal (200) by means of the connection portion (1011); the arms (102) can rotate toward the connection portion (1011), such that the flight device (100) can be in the folded state; and in the folded state, the arms (102) substantially surround the connection portion.

Description

Flying device, handheld gimbal and flight kit

technical field

The embodiments of the present application relate to the technical field of drone design, and in particular, to a flying device, a handheld gimbal, and a flying kit.

Background technique

UAVs generally build a pan-tilt camera to achieve stable UAV aerial photography. The handheld gimbal generally refers to the handheld gimbal camera, including the camera, the three-axis stabilization gimbal, the camera system, the power supply, the grip and other parts, which can achieve stable hand-held ground shooting. In the related art, the drone and the handheld gimbal are separate products, and the combined use of the functional modules of the two cannot be realized.

SUMMARY OF THE INVENTION

In view of the above-mentioned defects in the prior art, embodiments of the present application provide a flying device, a handheld gimbal, and a flying kit.

A first aspect of the embodiments of the present application provides a flying device, including:

body;

an aircraft arm, comprising a plurality of the aircraft arms, which are rotatably connected with the fuselage, so that the flying device has a retracted state and an unfolded state; in the retracted state, the plurality of the aircraft arms are away from the portion of the fuselage is substantially fitted; and,

a power system, arranged on the arm, for providing flying power for the flying device;

Wherein, the fuselage includes a connecting part, and the fuselage is used for detachably connecting with the handheld gimbal through the connecting part; the arm can be rotated toward the connecting part, so that the flying device can be in any position. in the folded state; in the folded state, the machine arm is basically arranged around the connecting portion.

A second aspect of the embodiments of the present application provides a flight kit,

It includes a flying device and a gimbal detachably connected to the flying device; the flying device includes:

body;

Based on the above, the flying device and the unmanned aerial vehicle provided by the embodiments of the present application can make the unmanned aerial vehicle with the smallest overall size after the arms are folded, and it is very portable. Protect connections from damage.

A third aspect of the embodiments of the present application provides a flying device, including:

The fuselage can be detachably connected with a functional module;

an arm, which is rotatably connected to the fuselage, so that the arm has a folded state and an unfolded state;

The functional module can be connected to or separated from the fuselage to be in a combined state or a separate state; when the functional module is connected to the fuselage in a combined state, the functional module can lock the machine arm in any position. Expanded state.

A fourth aspect of the embodiments of the present application provides a handheld gimbal, which is used for detachable connection with the flying device; wherein the flying device includes:

body;

an arm, which is rotatably connected to the fuselage, so that the arm has a retracted state and an unfolded state; the hand-held pan/tilt can be connected or separated from the fuselage to be in a combined state or a separated state;

When the hand-held pan-tilt and the fuselage are connected in a combined state, the hand-held pan-tilt can lock the machine arm in the unfolded state.

A fifth aspect of the embodiments of the present application provides a flight kit, including:

a flying device, the flying device includes a fuselage and an arm, the arm is rotatably connected to the fuselage, so that the arm has a retracted state and an unfolded state; and,

a hand-held gimbal, which can be connected or separated from the fuselage, so as to enable the flying device and the hand-held gimbal to be in a combined state or a separate state;

Based on the above, the flying device, the hand-held gimbal and the flight kit provided by the embodiments of the present application can lock the arm of the flying device in the unfolded state through the hand-held gimbal while locking the hand-held gimbal with the flying device. Realize the reuse of the mechanical structure, simplify the mechanical structure design, and because of the simple structure, it can effectively reduce the overall weight of the unmanned aerial vehicle, and by holding the gimbal flight device, and locking the arm in the unfolded state, the reliability is good .

A sixth aspect of the embodiments of the present application provides a flight kit, comprising:

flying device;

a hand-held gimbal, which is used to be detachably connected to the flying device, so that the flying device and the hand-held gimbal can be in a combined state and a separate state;

The working modes of the flight kit include flight mode and hand-held mode;

The handheld cloud platform has at least one operation module, and in the combined state, at least one of the operation modules is used to acquire the user's operation, and determine the working mode of the flight kit according to the user's operation.

A seventh aspect of the embodiments of the present application further provides a flying device,

It is used for detachable connection with the hand-held pan/tilt; the working modes of the flying device and the hand-held pan/tilt include flight mode and hand-held mode;

The handheld gimbal has at least one operation module, and when the flight device and the handheld gimbal are in a combined state, at least one of the operation modules is used to obtain the user's operation, and determine the user's operation according to the user's operation. The working mode of the flight kit.

The eighth aspect of the embodiment of the present application further provides a handheld pan/tilt,

The hand-held gimbal is used for connecting with the flying device to form a flying kit, and the working modes between the flying device and the hand-held gimbal include a flying mode and a hand-held mode;

The handheld gimbal has at least one operation module, and when the flying device and the handheld gimbal are in a combined state, at least one of the operation modules is used to obtain user operations, and determine the flight kit according to the user operations working mode.

A ninth aspect of the embodiments of the present application provides a flight kit, including:

flying device;

a hand-held gimbal, which is used for detachable connection with the flying device, so that the flying kit has a combined state and a separated state;

In the combined state, the handheld gimbal is protruded from the flying device, one end of the handheld gimbal is connected to the flying device, and the grip portion of the handheld gimbal is protruded from the flying device Setting; in the separated state, the handheld pan/tilt can be used alone.

A tenth aspect of the embodiments of the present application provides a flying device for cooperating with a handheld gimbal, including:

The fuselage is used for detachable connection with the handheld gimbal, and the flying device can be connected or separated from the handheld gimbal so as to be in a combined state or a separated state;

In the combined state, the hand-held pan/tilt is protruded from the flying device and constitutes an unmanned aerial vehicle, one end of the hand-held pan/tilt is connected to the flying device, and the holding part of the hand-held pan/tilt is protruded. It is set in the flying device; in the separated state, the handheld gimbal can be used alone.

An eleventh aspect of the embodiments of the present application provides a handheld cloud platform, including: a grip;

grip;

The handheld gimbal is used for detachable connection with the flying device, so that the flying kit has a combined state and a separated state;

In the combined state, the hand-held gimbal is protruded from the flying device, one end of the hand-held gimbal is connected to the flying device, and the grip portion of the hand-held gimbal is protruded from the flying device Device setting; in the separated state, the handheld pan/tilt can be used alone.

Based on the above, in the flying device, the handheld gimbal, and the unmanned aerial vehicle provided by the embodiments of the present application, the handheld gimbal and the flying device can be detachably connected, so that the combined state of the unmanned aerial vehicle can be realized, and the handheld gimbal can also be removed from the flying device. It is detached and used separately, realizing the multiplexing of the unmanned aerial vehicle and the hand-held gimbal, and when the unmanned aerial vehicle is in use, the holding part of the hand-held gimbal can be held by the user to realize the hand-held operation of the unmanned aerial vehicle. drop, which greatly facilitates the user's operation. When the unmanned aerial vehicle is in use, the hand-held gimbal is connected to the connecting part of the flying device, and the hand-held gimbal can also lock the arms at the same time. The flying device can also realize the folding and unfolding of the arms. When the arms are folded, the parts of the arms far away from the fuselage are basically fitted, and the connecting part can also be enclosed therein, so that the storage is more compact.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. Obviously, the accompanying drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative labor.

1 is a schematic structural diagram of a front view of a flying device provided by an embodiment of the application;

2a is a schematic structural diagram of a handheld gimbal according to an embodiment of the application;

Fig. 2b is a schematic diagram of the hand-held PTZ provided by Fig. 2a when being used by a user;

3a is a schematic structural diagram of a combined state of a flying device and a handheld gimbal provided by an embodiment of the application;

Fig. 3b is a schematic diagram when the flying device provided in Fig. 3a and the handheld gimbal are in a combined state when used by a user;

4 is a schematic structural diagram of a flying device in an unfolded state provided by an embodiment of the present application;

5 is a schematic structural diagram of the flying device provided in an embodiment of the present application in a folded state;

FIG. 6a is a schematic structural diagram of a flying device in a deployed state provided by another embodiment of the present application;

FIG. 6b is a schematic structural diagram of the flying device provided in another embodiment of the present application during the folding process;

FIG. 6c is a schematic structural diagram of a flying device in a folded state provided by another embodiment of the present application;

FIG. 7a is a schematic partial structural diagram of a flying device provided with a first connecting portion and a first electrical connecting portion according to an embodiment of the application;

FIG. 7b is a schematic structural diagram of a handheld gimbal with a second connection portion and a second electrical connection portion provided by an embodiment of the present application;

8 is a schematic diagram of the state before the combination of the flying device of the unmanned aerial vehicle and the handheld gimbal provided by an embodiment of the application;

9a is a top view of a flying device provided by an embodiment of the application;

9b is a front view of a flying device provided by an embodiment of the application;

9c is a side view of a flying device provided by an embodiment of the application;

10a is a schematic diagram of the state of the unmanned aerial vehicle provided by an embodiment of the application before the landing gear is installed;

10b is a schematic diagram of a state in which the unmanned aerial vehicle according to an embodiment of the application is installed with a landing gear;

11 is an electrical control schematic diagram of a picture transmission module of an unmanned aerial vehicle provided by an embodiment of the application;

FIG. 12 is a schematic diagram of the electrical control of the flight control module and the power system of the unmanned aerial vehicle according to the embodiment of the application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs. The terms used herein in the specification of the application are for the purpose of describing specific embodiments only, and are not intended to limit the application.

The "including" mentioned throughout the specification and claims is an open-ended term, so it should be interpreted as "including but not limited to". "Approximately" means that within an acceptable error range, those skilled in the art can solve the technical problem within a certain error range, and basically achieve the technical effect.

Furthermore, the term "connected" herein includes any direct and indirect means of connection. Therefore, if it is described herein that a first device is connected to a second device, it means that the first device can be directly connected to the second device or indirectly connected to the second device through another device.

It should be understood that the term "and/or, and/or" used in this document is only an association relationship to describe associated objects, indicating that there may be three relationships, for example, A1 and/or B1, which may indicate that A1 exists alone, A1 and B1 exist at the same time, and there are three cases of B1 alone. In addition, the character "/" in this document generally indicates that the related objects are an "or" relationship.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. Those skilled in the art may combine and combine the different embodiments or examples described in this specification, as well as the features of the different embodiments or examples, without conflicting each other.

The inventor found through creative labor that the drone and the handheld gimbal in the related technology are two completely independent products. The traditional UAV is placed statically on the ground when it takes off, and the take-off and landing is controlled by the control terminal, or the user grasps the fuselage of the UAV and realizes the take-off of the UAV under the control of the control terminal. Or, in some application scenarios, the drone shoots without taking off. However, in the above two usage scenarios, the drone is not easy to hold. The traditional gimbal camera must be used in conjunction with the drone. At present, there is no product on the market that combines the drone with the handheld gimbal and can be used together.

In order to solve the above-mentioned specific technical problems, the embodiments of the present application provide a flying device, a handheld gimbal and an unmanned aerial vehicle, which can realize the combination of the flying device and the handheld gimbal without affecting the single use of the handheld gimbal.

1 is a schematic structural diagram of a front view of a flying device provided by an embodiment of the application; FIG. 2 a is a schematic structural diagram of a handheld gimbal provided by an embodiment of the application; A schematic diagram of FIG. 3 a is a structural representation of the flying device provided by an embodiment of the application and the hand-held cloud platform in a combined state; Schematic. Referring to FIG. 1 to FIG. 3 , the flight kit provided in this embodiment includes a flight device 100 and a handheld gimbal 200 .

The handheld gimbal 200 is detachably connected to the flying device 100, so that the unmanned aerial vehicle has a combined state and a separate state. Specifically, the detachable connection between the handheld gimbal 200 and the flying device 100 is not limited, for example, it may be a screw connection, a snap connection, or even a magnetic attraction. When the magnetic attraction is used, a magnetic component with a relatively large magnetic force can be used. After testing, as long as the magnetic force is sufficient, the reliable fixation of the handheld gimbal 200 and the flying device 100 can be fully satisfied.

In the combined state, the handheld gimbal 200 is protruded from the flying device 100 , one end of the handheld gimbal 200 is connected to the flying device 100 , and the gripping portion 201 of the handheld gimbal 200 is protruded from the flying device 100 , so that the gripping portion 201 can be held by the user, so as to realize the hand-held take-off and landing of the unmanned aerial vehicle; in the separated state, the hand-held pan/tilt 200 can be used alone.

Specifically, the flying device 100 may at least have a fuselage 101 and an arm 102 . In a flying state, when the unmanned aerial vehicle is in a flying state, a plurality of arms 102 are arranged around the fuselage 101 .

It should be noted that the so-called fuselage 101 refers to a connecting portion for connecting one end of a plurality of arms 102. The fuselage 101 may be provided with related electronic components, or the fuselage 101 is only a mechanical connecting portion. No electronic components are provided on the fuselage 101 of the flying device 100 . When the fuselage 101 is provided with electronic components, preferably, the fuselage 101 may have an accommodating cavity inside to facilitate accommodating the electronic components. Of course, in other embodiments, the electronic components may also be directly exposed on the fuselage. The body 101 is not limited in this application.

The power system includes propellers, motors, etc. The arm 102 has at least propellers 1041 , and each propeller 1041 can be rotated by, for example, a motor 1042 , and the number of the arms 102 can match the number of the propellers 1041 .

In some embodiments, the number of the arms 102 is four, and the number of the corresponding propellers 1041 is also four, so that the entire unmanned aerial vehicle constitutes a quadrotor unmanned aerial vehicle. In other embodiments, the number of arms 102 and propellers 1041 may be six, eight, etc. Of course, it cannot be ruled out that the number of the arms 102 may be greater than the number of the propellers 1041 , so that some of the arms 102 are provided with the propellers 1041 , while other arms 102 are not provided with the propellers 1041 .

The flying device 100 provided in this embodiment only needs to be able to fly under the driving of the power system. Each propeller 1041 is driven to rotate by the corresponding motor 1042, and each power system is independently controlled, so that each propeller 1041 can be controlled to rotate independently, and control the rotation speed and/or steering of each propeller 1041 respectively, so as to realize the switching of the UAV in different flight states, such as forward flight, reverse flight, deflection, pitch, deceleration, acceleration, etc., Realize multiple flight mode switching.

4 is a schematic structural diagram of a flying device provided in an embodiment of the application in an unfolded state; FIG. 5 is a schematic structural diagram of a flying device provided in an embodiment of the application in a folded state; FIG. 6a is a flying device provided by another embodiment of the application A schematic structural diagram of the device in an unfolded state; FIG. 6 b is a structural schematic diagram of a flying device provided by another embodiment of the application in a folded process; FIG. 6 c is a structural schematic diagram of the flying device provided by another embodiment of the application in a folded state; As shown in FIGS. 4 and 5 and FIGS. 6 a to 6 c , in some embodiments, the plurality of arms 102 and the fuselage 101 can be rotatably connected, so that the flying device 100 has a retracted state and an extended state. When the flying device 100 does not need to fly, the arms 102 of the flying device 100 can be rotated relative to the fuselage 101 to make the flying device 100 in a folded state, greatly reducing the overall volume of the flying device 100 and facilitating storage. When the flying device 100 is combined with the handheld gimbal 200 and needs to fly, the arm 102 can be rotated relative to the fuselage 101 in a direction away from the fuselage 101 , so that the flying device 100 is in the unfolded state.

The power system includes propellers, and the propellers 1042 may be distributed on the outside of the flying device 100 in the retracted state. As shown in FIG. 5 , in the folded state, the plurality of arms 102 may be substantially parallel. As a result, the volume of each arm 102 after being folded is minimized. In this embodiment, in the folded state, the parts of the plurality of arms 102 that are far from the fuselage 101 basically fit together. As shown in FIG. 4 and FIG. 7a, the arm 102 may include a plurality of arm connecting parts e1, a rotating shaft e2, and an extending part e3, and the rotating shaft is used for rotatably connecting with the arm connecting parts. The plurality of arm connecting parts e1 are respectively rotatably connected to the plurality of rotating shafts e2, so that the plurality of rotating shafts e2 are rotatably connected to the body 101.

The extension is used to connect the fuselage 101 and the power system. The so-called basic fit means that they are gathered together, and it is not limited to fit each part. For example, the shaft may not fit, and the extension may fit. The arms 102 can be basically attached to each other after being folded, and the motors 1042 in the arms 102 arranged side by side can be attached to each other.

The fuselage 101 may include a connecting portion 1011, and the fuselage 101 is used for detachable connection with the handheld gimbal 200 through the connecting portion 1011; the arm 102 can be rotated toward the connecting portion 1011, so that the flying device can be in a folded state; in the folded state , the machine arm 102 is basically arranged around the connecting portion 1011 . In the flying device of this embodiment, the overall structure of the aircraft arm 102 after storage is very simple, and the volume is almost minimized, which is convenient for storage, and the connecting portion 1011 of the fuselage is surrounded by the aircraft arm 102, which can better protect the connecting portion 1011.

The fuselage 101 can be mechanically and electrically connected to the handheld gimbal 200 through the connecting portion 1011 . When the fuselage 101 is mechanically and electrically connected to the handheld gimbal 200 , the fuselage 101 can obtain power from the handheld gimbal 200 to supply power to the power system. powered by.

In this embodiment, in the folded state, the motors 1041 in the arms 102 arranged side by side can be attached to each other. In some optional embodiments, as shown in FIGS. 6 a to 6 c , in the retracted state, the motors 1041 in the machine arm 102 are substantially aligned.

In the embodiment shown in FIG. 5 , the plurality of machine arms 102 can be close together. In the folded state, the plurality of machine arms 102 basically fit together, some of the plurality of machine arms 102 are overlapped and arranged, and another part of the plurality of machine arms 102 is arranged to overlap. Parts can be set side by side. For example, as shown in FIG. 5 , there are four arms 102 , two arms 102 are arranged in an overlapping manner, and the other two arms 102 are also arranged in an overlapping manner, and the two pairs of arms 102 after the overlapping arrangement are arranged side by side.

More preferably, as shown in FIG. 6c , in the folded state, the plurality of arms 102 and the motors 1042 are arranged in sequence in layers. This minimizes the size of the folded flying device. Moreover, since all the arms 102 and the motors 1042 are arranged in layers, there will be no interference between the arms 102 and the propellers 1041. Therefore, a propeller protective cover 1021 can be provided outside the propellers 1041, and the propeller protective cover 1021 and the propeller 102 can be For fixed connection, specifically, a connecting bracket 1022 can be connected to the inner side of the paddle protective cover 1021 , one end of the connecting bracket 1022 is connected to the inner wall of the propeller protective cover 1021 , and the other end of the connecting bracket 1022 is fixedly connected to the arm 102 . By providing the propeller protection cover 1021, the propeller 1041 can be protected to a certain extent, and the propeller 1041 can be prevented from being twisted, deformed, cracked, etc. from hitting an obstacle, thereby effectively improving the service life of the propeller 1041.

In this embodiment, each propeller 1041 of the flying device 100 is correspondingly surrounded by a blade protective cover 1023 , or, in some optional embodiments, a part of the propellers 1041 of the flying device 100 is correspondingly surrounded by a blade protective cover 1023 , and The other part of the propeller 1041 has no blade protection cover 1023 .

In order to realize the stacked arrangement of the arms 102 after being folded in FIGS. 6a to 6c , specifically, along the yaw axis Z direction of the flying device, the rotation axis of a part of the plurality of arms 102 is set higher than that of the plurality of arms 102 . The setting position of the rotation axis of another part of the arm 102; for example, as shown in FIG. 6a, the setting position of the rotation axis of the arm 102 corresponding to the No. 1 propeller 1041 is lower than that of the arm corresponding to the No. 2 propeller 1041 The setting position of the reel of 102.

In some embodiments, along the pitch axis Y direction of the flying device 100 , the position of the rotation axis of a part of the plurality of arms 102 is close to the center of the fuselage 100 , and the rotation axis of another part of the plurality of arms 102 is located at the center of the fuselage 100 . The setting position is away from the center of the fuselage 100 . For example, as shown in FIG. 6a , the setting position of the rotating shaft of the arm 102 corresponding to the No. 1 propeller 1041 is closer to the inner side, that is, closer to the setting position of the rotating shaft of the arm 102 corresponding to the No. 2 propeller 1041 at the center of the fuselage 100 .

Therefore, as shown in FIG. 6b , during folding, the No. 1 propeller 1041 can be folded and positioned on the inner side of the stacking direction, and during the folding operation, the No. 1 propeller 1041 is folded first, and then the No. 2 propeller 1041 is folded to the outside. Similarly, the arrangement and folding methods of the No. 3 propellers 1041 and the No. 4 propellers 1041 can refer to the design methods of the No. 1 and No. 2 propellers, so as to realize the final stacked arrangement of the four propellers 1041 and the arms 102 . The size of the folded flying device 100 is minimized.

It should be noted that the number of blades of the propeller 1041 in FIGS. 6 a to 6 c is three is only an example, and is not limited in the present application.

When the arm 102 is folded by the folding method as shown in FIG. 5 , once each propeller 1041 is provided with the propeller protection cover 1021 , the problem of interference will occur. In this case, the folded flying device 100 has a larger volume. . Therefore, when the folding method shown in FIG. 5 is adopted, the propeller 1041 cannot be provided with the propeller protection cover 1021 to ensure the smallest volume of the flying device in the folded state.

Further, the arm 102 can be locked in the unfolded state by a locking device, and the locking device can be detachably or movably connected to the body 101 . In a specific embodiment, the locking device may be the above-mentioned handheld pan/tilt 200, of course, in other embodiments, the locking device may be other components capable of locking.

In some embodiments, as shown in FIG. 4 , in the unfolded state, the plurality of arms 102 are evenly arranged around the fuselage 102 of the flying device 100 , so that the four arms 102 are evenly arranged around the fuselage 101 , and the four arms 102 are evenly arranged around the fuselage 101 . The propellers 104 of 102 are less likely to interfere, so that the blades 1041a of the propellers 104 on each arm 102 can be made as large as possible, thereby improving the flight power.

In order to achieve the above effect, take the quadrotor as an example, define the space coordinate system as shown in Figure 1, and define: the Z axis points upward, the X axis points to the front of the flight direction, and the Y axis points to the left of the flight direction. The spatial arrangement is described as follows:

Fig. 9a is a top view of a flying device provided by an embodiment of the application; Fig. 9b is a front view of a flying device provided by an embodiment of the application; Fig. 9c is a side view of the flying device provided by an embodiment of the application; Figure 9a, Figure 9b and Figure 9c, because the left front, right front, left rear, right rear four arm rotation axes are symmetrical to the XZ plane and the YZ plane, take the left front arm as an example;

As shown in Figure 9a, along the direction perpendicular to the roll axis X and the pitch axis Y, that is to say perpendicular to the XY plane from top to bottom, the angle α between the axis of the arm rotation axis and the X axis satisfies: 0 °<α<60°; preferably, α=22.5°. When α is equal to 22.5°, the angle between the rotation axes of the two arms 102 is 45°, so the angle between the arms 102 is 90°, so that the four arms 102 evenly surround the fuselage 101 layout. That is to say, the four arms 102 may be substantially orthogonal. The so-called "substantially orthogonal" means that the angle between the two arms 102 is basically 90°, and the error range can be within ±5°

As shown in Figure 9b, along the direction perpendicular to the plane formed by the roll axis X and the pitch axis Z, that is to say perpendicular to the XZ plane from left to right, the angle β between the axis of the arm rotation axis and the X axis satisfies : 0°<β<90°; preferably, take β=48°

As shown in Figure 9c, along the direction perpendicular to the plane formed by the pitch axis Y and the yaw axis Z, that is, perpendicular to the YZ plane from front to back, the angle γ between the axis of the arm rotation axis and the Y axis satisfies : 0°<γ<60°; preferably, γ=23°.

The values of the angles β and γ determine whether the arm 102 can be folded after being folded. It is understood that in the present application, the values of β and γ are not limited to the above, and those skilled in the art can use the actual The values of β and γ are determined by structural design, which is not limited in this embodiment.

In the above embodiment, preferably, the folding direction of the aircraft arm 102 is toward the side of the flying device 100 for installing the handheld gimbal 200, so that the volume of the flying device after storage can be minimized.

In some optional embodiments, the folding direction of the aircraft arm 102 is away from the side of the flying device 100 for installing the handheld gimbal 200 . When the flying device 100 and the handheld gimbal 200 are combined and folded in the above manner, the folded arm 102 can be used as an extension rod of the handheld gimbal 200, so that the user can take a long-distance selfie with the handheld gimbal 200. and so on. Alternatively, when the machine arm 102 can be locked in the folded state, the folded machine arm 102 can be used as a tripod (or multipod) for the handheld pan/tilt head 200 to expand the use range of the handheld pan/tilt head 200, so that the user can The handheld gimbal 200 is placed on the ground to perform long-distance automatic timing shooting. Of course, it can be understood that when the folded arms 102 are used as tripods or multipods, the arms 102 do not fit each other. For example, each arm 102 is only folded 45°, so that it can be used as a tripod. Or when using a multi-pod, its support stability is better.

In some embodiments, an unmanned aerial vehicle is provided. The unmanned aerial vehicle may include a flying device 100 and a functional module. The arm 102 of the flying device 100 is rotatably connected to the fuselage 101, and the arm 102 may be relative to the fuselage. 101 is folded to have a collapsed state and an expanded state. In order to lock the arm 102 in the unfolded state, the arm 102 can be detachably connected with a functional module, and can be locked by the functional module, and the functional module can be connected or separated from the fuselage 101 to be in a combined state with the flight device 100 or In the separated state, when the functional module is connected with the body 101 to be in a combined state, the functional module locks the arm 102 in the unfolded state.

The functional module described in this embodiment refers to that it has certain functions, such as the function of taking images, and/or the function of displaying images, or the function of spraying pesticides, which can be understood as the function of a flying device. load. The functional module can be used as a functional module after being connected to the flying device 100 to achieve certain functions, and at the same time, it can also be used as a fixed component to lock the aircraft arm 102 so that the aircraft arm 102 is locked in the unfolded state. The connection with the flight device 100 can be realized through a functional module, and the locking of the aircraft arm 102 can be realized at the same time, and the reuse of the mechanical structure can be realized, which effectively saves the mechanical structure design and reduces the cost. , the overall weight is also reduced, which is conducive to lightweight requirements.

In some embodiments, when the functional module and the body 101 are in a separated state, the functional module can be used as a functional component used alone, thereby expanding the flexibility of use of the functional module.

It should be noted that the locking device described in the above embodiment can also be the functional module described in this embodiment. In a specific embodiment, the functional module can be the handheld cloud platform 200, and the function module is hereinafter referred to as the handheld cloud platform The station 200 will be described as an example.

The flying device 100 has a first connecting portion 11 , and the handheld gimbal 200 has a second connecting portion 21 . The first connecting portion 11 and the second connecting portion 21 can be connected to lock the flying device 100 in the unfolded state. The flying device 100 of this embodiment can be stored in a folded state when it is not taking off, and when it needs to take off, it is only necessary to dock the hand-held gimbal 200 with the flying device 100, and then the first connecting portion 11 and the The interaction of the two connecting parts 21 causes the flying device 100 to be locked so as to maintain the deployed state. In the process of connecting the handheld gimbal 200 to the flying device 100, the switching of the flying device 100 from the retracted state to the unfolding state is realized, without the need to manually unfold the flying device 100 and then connect the flying device 100 to the handheld gimbal 200. Therefore, the complicated operation is reduced, and the operation becomes simple and convenient.

In order to minimize the volume of the flying device 100 after being folded, please refer to FIG. 4 and FIG. 5 further, each arm 102 has at least two blades 1041a, and the at least two blades 1041a are pivotally connected to the paddle seat or paddle clip 1041b, respectively. , so that the paddle 1041a can be folded relative to the arm, thereby further reducing the storage volume of the flying device.

In some embodiments, when the flying device 100 is connected at the first connecting part 11 and the second connecting part 21 , the flying device 100 can be locked in the deployed state. FIG. 7a is a schematic partial structure diagram of a flying device provided with a first connection part and a first electrical connection part according to an embodiment of the present application; Schematic diagram of the structure of the handheld gimbal; FIG. 8 is a schematic diagram of the state before the combination of the flying device of the unmanned aerial vehicle and the handheld gimbal provided by an embodiment of the application; Specifically, as shown in FIG. 7a, when the flying device 100 is in the unfolded state , a accommodating slot C is formed between at least two adjacent arms 102, and a locking protrusion D is provided on the handheld pan/tilt 200. When the first connecting part 11 is connected with the second connecting part 21, the locking protrusion D is locked. into the accommodating slot C to lock the flying device 100 in the deployed state.

Specifically, the locking protrusion D may be formed on the second connecting portion 21 . Specifically, the locking body D may be a block-shaped protrusion, and the protrusion height may match the groove depth of the accommodating groove C. The connection method of the first connection part 11 and the second connection part 21 includes a snap connection; one of the first connection part 11 and the second connection part 21 has a first clamping part 211, the first connection part 11 and the second connection part 21. The other side of the connecting portion 21 has a first matching portion 111 which is matched with the first clamping portion 211 . The connection part 21 is connected.

The first holding part 211 is movably connected to one of the first connecting part 11 and the second connecting part 21 , and the first holding part 211 can move between the locking position and the disengaging position; in the locking position, the first holding part 211 The flying device 100 and the handheld gimbal 200 are in a combined state; in the separation position, when the first clamping part 211 and the first matching part 111 are separated, the flying device 100 and the handheld gimbal 200 are engaged. in a detached state.

In a specific embodiment, the first holding part 211 may be a retractable holding part provided on the side wall of the locking protrusion D, and there may be elasticity between the first holding part 211 and the locking protrusion D. The restoring piece is used so that the first clamping portion 211 can be elastically stretched. The first matching portion 111 may be a groove provided on the side wall of the first connecting portion 11 , and the first clamping portion 211 may have a guide surface 2111 that is in abutting contact with the wall surface of the first matching portion 111 . 2111 can be an inclined surface. During the process of connecting the first connecting part 11 and the second connecting part 21 , the guiding surface 2111 is in contact with the groove, and then pushes the first holding part 211 to retract to avoid the first matching part 111 , when the first clamping part 211 reaches the preset locking position at the first matching part 111 , the first clamping part 211 returns to the state of being clamped into the first matching part 111 under the action of the elastic restoring force, and then To achieve relative locking of the two.

In order to realize the unlocking of the first holding part 211 and the first matching part 111 , further, the first holding part 211 is connected with a driving part 212 , and the driving part 212 is used for receiving an external driving force to drive the first holding part 211 sports. The driving part 212 can be specifically a button provided on the second connecting part 21, the button is drivingly connected with the first holding part 211, and the user presses the button so that the first holding part 211 overcomes the effect of the elastic restoring force and exits the first matching Section 111. Alternatively, the driving part 212 can be a pull button, and when the user pulls the driving part 212 in a direction away from the first holding part 211 , the first holding part 211 can be directly pulled out from the first matching part 111 .

There may be many ways for the button to drive the first holding portion 211 to withdraw from the first matching portion 111 , and those skilled in the art can make specific designs according to the actual situation, which is not limited in this embodiment.

One end of the handheld gimbal 200 is connected to the flying device 100 , and the other end of the handheld gimbal 200 is connected to the camera module 202 . In the combined state, the camera module 202 is disposed away from the flying device 100 . The camera module 202 is used for taking photos or recording videos. The camera module 202 can be rotatably connected to the holding part 201 through a three-axis stabilizer, and the three-axis stabilizer is used to stabilize the camera module 202 to ensure shooting quality.

A holding portion 203 is formed between the two ends of the handheld platform 200. The holding portion 203 can be in the shape of a long column, and its cross-sectional shape can be any shape such as a circle, a square, an ellipse, a track shape, etc. It is limited as long as it can provide the space for the user to hold. The inside of the holding portion 203 may be a hollow structure, so as to accommodate the related electronic components of the handheld gimbal 200 .

In the unmanned aerial vehicle provided by the embodiment of the present application, the hand-held gimbal is detachably connected with the flying device, so that the combined state of the unmanned aerial vehicle can be realized, and the hand-held gimbal can also be detached from the flying device and used alone, so that the unmanned aerial vehicle can be used independently. The multiplexing of human aircraft and handheld gimbal. When it needs to be used as a drone, connect the flying device with the hand-held gimbal to achieve a combined state. When only the hand-held gimbal is required, remove the handheld gimbal from the flying device, and use the hand-held gimbal to achieve hand-held shooting. status of use. In addition, when the unmanned aerial vehicle is in use, the holding part of the hand-held gimbal can be held by the user, so as to realize the hand-held take-off and landing of the unmanned aerial vehicle, which greatly facilitates the user's operation.

The unmanned aerial vehicle provided by this application can realize hand-held take-off and landing. The main significance of hand-held take-off and landing is to make the take-off and landing of the unmanned aerial vehicle faster and more convenient, especially when the user is in uneven ground environments such as mountain climbing and beaches. in the environment. In the present application, the arm of the UAV is located at the top of the fuselage and is far from the holding part. Therefore, when the user is using hand-held take-off and landing, the rotation of the propeller will not hit the user's hand, which is relatively safe to use.

In order to realize the connection between the flying device 100 and the handheld gimbal 200, specifically, the flying device 100 may have a first connection part 11 and a first electrical connection part 12, and the handheld gimbal 200 has a second connection part 21 and a second electrical connection part 22. In the combined state, the first connecting portion 11 and the second connecting portion 21 are detachably connected, and the first electrical connecting portion 12 and the second electrical connecting portion 22 are butted to establish an electrical connection.

When the connection between the flying device 100 and the handheld gimbal 200 is a snap connection, the first connecting part 11 can be a snap, and the second connecting part 21 can be a slot or a hole matched with the snap; The connection part 11 is a card slot or a buckle, and the second connection part 21 is a buckle inserted into the card slot or the card hole. When the connection between the flying device 100 and the handheld gimbal 200 is threaded connection, the first connection part 11 may be a protruding part with an external thread, and the second connection part 21 may be a cylindrical part with an internal thread, or The first connecting portion 11 may be a cylindrical member with internal threads, and the second connecting portion 21 may be a protruding member with external threads. Alternatively, the first connecting portion 11 includes a screw hole/slip hole formed on the flying device 100, and the second connecting portion 21 includes a light hole and/or a screw hole defined on the handheld gimbal 200, both of which can be screwed or bolted connected. When the flying device 100 and the handheld gimbal 200 are connected by magnetic attraction, the first connecting portion 11 may include a first magnetic pole disposed on the flying device 100 , and the second connecting portion 21 may include a first magnetic pole disposed on the handheld gimbal 200 . Two magnetic poles, the first magnetic pole and the second magnetic pole have opposite magnetic poles, so that the two can attract each other, so that the handheld gimbal 200 is stably fixed under the flying device 100 .

The first electrical connection portion 12 is connected to the second electrical connection portion 22 to establish an electrical connection. The first electrical connection portion 12 may be inserted into the second electrical connection portion 22, or the second electrical connection portion 22 may be inserted into the first electrical connection portion. For example, the first electrical connection part 12 is a terminal, the second electrical connection part 22 is a port, and the first electrical connection part 12 is inserted into the second electrical connection part 22 . Alternatively, the first electrical connection portion 12 and the second electrical connection portion 22 are in abutting contact along the mating direction, so as to establish an electrical connection between the two.

It is worth noting that, since the flying device 100 and the handheld gimbal 200 in this embodiment can have a combined state and a separate state, a detection device can also be designed to detect whether the first electrical connection portion 12 and the second electrical connection portion 22 have been established. Electrical connection, when it is detected that the electrical connection between the first electrical connection part 12 and the second electrical connection part 22 is established, each component in the unmanned aerial vehicle can be controlled to work in the combined mode, and when the first electrical connection part 12 and the second electrical connection part 22 are established. If the electrical connection is not established by the electrical connection portion 22, the hand-held pan/tilt head 200 can be controlled to be in the hand-held use mode.

In order to enable the handheld PTZ 200 to have a data transmission function when it is used alone, the handheld PTZ 200 also has a third connection part 31 and a third electrical connection part 32, and the third connection part 31 is used to be detachable from an external communication device ground connection, and the third electrical connection part 32 is used for establishing electrical connection with an external communication device so as to at least be able to transmit data. The external communication device may be a wireless communication module, such as a WiFi module, Bluetooth, a near field communication module, a radio frequency antenna module, and the like.

In the solution of the present application, when the user is in a handheld shooting state, the user can use an external communication device to realize a complete image transmission module in the handheld shooting state. The external communication device can include the same buckles and interfaces as those on the quadrotor aircraft, and has a smaller antenna module, so as to form a complete image transmission module together with the processing unit on the handheld gimbal 200 . The user can use it to realize image transmission signal transmission or file transmission between the camera module 202 of the handheld PTZ 200 and a control terminal device such as a mobile phone.

In addition, in some embodiments, as shown in FIGS. 2 a and 2 b and FIGS. 3 a and 3 b , in the combined state, the damping module 24 is disposed close to the flying device 100 . Specifically, a shock absorbing module 24 is provided on a side of the handheld pan/tilt head 200 close to the second connecting portion 21 . The shock absorbing module 24 may include shock absorbing balls, shock absorbing blocks, etc., and materials may include rubber materials, foam, springs, and the like. In a specific embodiment, the damping module 24 may include a plurality of uniformly arranged damping balls, and the damping balls are preferably hollow balls, so as to reduce the elastic modulus and make the damping effect of the damping balls better. The shock absorber module 24 is close to the second connecting portion 21 , that is to say, the shock absorber module 24 is close to the flying device 100 . Compared with arranging the shock absorber module 24 at the end close to the camera module 202 , this method can avoid shooting by hand. When the camera module 202 of the handheld gimbal 200 is shaken due to the flexible connection of the shock absorber module 24, and the inertia generated by the weight of the camera module 202 of the handheld gimbal 200 can be used to reduce the influence of high frequency vibration, between the flying device 100 and the handheld gimbal 200 When the gimbal 200 is in a combined state, the camera module 202 can act as a counterweight, thereby reducing the vibration of the entire UAV and improving the stability of the UAV.

In this embodiment, preferably, as shown in FIGS. 2 a and 2 b , the second connecting portion 21 is provided at one end of the holding portion 201 , and the damping module 24 may be provided between the holding portion 201 and the second connecting portion 21 . between. Specifically, one side of the shock absorbing module 24 may be bonded to the holding portion 201 , and the other side of the shock absorbing module 24 may be bonded to the surface of the second connecting portion 21 facing away from the flying device 100 . In this way, both sides of the shock absorbing module 24 are fixed, and when in use, relative movement with the flying device 100 or the handheld gimbal 200 will not cause wear and tear, thereby effectively ensuring the service life of the shock absorbing module 24 .

Of course, optionally, the shock absorbing module 24 may be disposed between the second connecting portion 21 and the fuselage 101 . Specifically, one side of the damping module 24 can be fixedly connected to the surface of the second connecting portion 21 facing the flight device 100 , and the other side of the damping module 24 can be used for abutting with the fuselage 101 . Realize shock absorption for unmanned aerial vehicles.

FIG. 4 is a schematic structural diagram of the flying device provided in an embodiment of the application in an unfolded state; as shown in FIGS. 2 a, 2 b, 3 a, 3 b and 4, in a preferred embodiment, the first electrical connection portion 12 One of the first and second electrical connection parts 22 may include interface contacts, and the other of the first and second

electrical connection parts

12 and 22 may include an interface ejector; when the first connection part 11 and the second connection part 21 When connected, the interface contacts are in contact with the interface ejector pins to establish an electrical connection between the flying device 100 and the handheld gimbal 200 . Wherein, the interface contact can be a protruding contact, or a concave contact, and the interface thimble is a protruding structure. The second electrical connection portion 22 makes contact to establish electrical connection.

To simplify the operation, in this embodiment, when the first connection portion 11 and the second connection portion 21 are connected, the first electrical connection portion 12 and the second electrical connection portion 22 are in contact to establish electrical connection. In the actual design process , the relative heights and positions of the first electrical connection part 12 and the second electrical connection part 22 can be specifically designed, so as to realize that in the process of connecting the first electrical connection part 11 and the second connection part 21, the The second electrical connection portion 22 also establishes an electrical connection. Therefore, after connecting the first connecting part 11 and the second connecting part 21 , it is avoided to additionally connect the first electrical connecting part 12 and the second electrical connecting part 22 , thereby simplifying the operation steps and improving the user experience.

Of course, in some other embodiments, when the first connection part 11 and the second connection part 21 are connected, the first electrical connection part 12 and the second electrical connection part 22 may not be connected, but additional operation by the user is required. Only then can the first electrical connection portion 12 and the second electrical connection portion 22 be connected. For example, the hand-held gimbal 200 has an external wire, and the end of the external wire has a plug, which constitutes the second electrical connection part 22, and the flight device 100 has a jack, which constitutes the first electrical connection part 12. The user can insert the plug into the jack, so as to realize the electrical connection between the handheld gimbal 200 and the flying device 100.

In some embodiments, the flying device 100 and the handheld gimbal 200 can establish a power supply connection through the first electrical connection part 12 and the second electrical connection part 22 , so that power can be transmitted between the flying device 100 and the handheld gimbal 200 , for example , the handheld gimbal 200 is the flying device 100 , and/or the flying device 100 is powering the handheld gimbal 200 .

In some embodiments, in the combined state, the flying device 100 and the handheld gimbal 200 can establish a communication connection with the second electrical connection part 22 through the first electrical connection part 12 . That is, data, such as image data, control data, etc., can be transmitted between the flying device 100 and the handheld gimbal 200 .

In this embodiment, preferably, the handheld gimbal 200 may be provided with a power supply module 23. In the combined state, the handheld gimbal 200 supplies power to the flight device 100 through the power supply module 23 to enter the flight mode.

Specifically, the power supply device 23 may be a battery, and the power supply module 23 may be provided on the grip portion 203 . The holding part 203 can be formed with a receiving cavity for accommodating the power supply module 23. The power supply module 23 is detachably contained in the receiving cavity. The outer wall of the holding part 203 can be movably provided with a battery cover. The holding portion 203 allows the user to expose the power supply module 23 by opening the battery cover, so as to achieve maintenance or replacement of the power supply module 23 . When the power supply module 23 is a rechargeable battery, the power supply module 23 can also be easily taken out to realize flexible charging.

In the flight mode, the power supply module 23 can have the following two power supply modes, the first one: the power supply module 23 can supply power to the camera module 202 of the handheld gimbal 200 and the flight device 100 respectively; The power module 23 supplies power to the camera module 202 of the handheld gimbal 202 and the flying device 100 in sequence. It should be noted that the flying device 100 of this embodiment may not have a separate power supply module, and the power supply module 23 of the handheld gimbal 200 must be in a combined state to supply power to the flying device 100 , thereby forming a complete of unmanned aerial vehicles. By only disposing the power supply module 23 on the hand-held gimbal 200, it can not only ensure that the hand-held gimbal 200 can be used alone, but also can ensure the normal use of the unmanned aerial vehicle, and the flying device 100 does not need to be used alone, so it is not necessary to set a power supply on it. The energy module 23 is thus beneficial to reduce costs.

FIG. 11 is an electrical control schematic diagram of the image transmission module of the unmanned aerial vehicle provided by the embodiment of the application; as shown in FIG. 11 , the unmanned aerial vehicle provided by the embodiment of the application further includes a image transmission module 300, and the image transmission module 300 is used for Communication connection with the camera module 202 . Thus, the images (pictures, videos) captured by the camera module 202 can be sent to the image transmission module 300, so that the image transmission module 300 sends the captured images.

Further, in the combined state, the image transmission module 300 can be connected in communication with the camera module 202 of the handheld platform 200 and the control terminal 400 . The control terminal 400 may be a mobile phone, a computer, a tablet, a remote control, etc. located on the ground. The image transmission module 300 can send the image captured by the camera module 202 to the above-mentioned control terminal 400, so that the user can use the control terminal 400 to view all the images. captured image.

Specifically, the image transmission module 300 may include a wireless communication unit 301 and a processing unit 302. The wireless communication unit 301 is provided on the flight device 100, and the processing unit 302 is provided on the handheld gimbal 200. The wireless communication unit 301 and the processing unit 302 pass through the In the combined state, the electrical connection established between the flying device 100 and the handheld gimbal 200 realizes communication.

In this embodiment, in the combined state, the flight device 100 and the handheld gimbal 200 can be connected for communication through the first electrical connection portion 12 and the second electrical connection portion 22 . The image and video data sent by the image transmission module 300 may be radio frequency data, and the data volume of the radio frequency data is small, thereby reducing the transmission pressure of the first electrical connection portion 12 and the second electrical connection portion 22 , thus achieving reliable and stable performance. fast transmission. The wireless communication unit 301 of the image transmission module 300 is installed on the flying device, so that the wireless communication unit 301 is less blocked, and its signal strength and communication reliability with the control terminal 400 are ensured. The processing unit 302 is disposed on the handheld gimbal 200 so that when the handheld gimbal 200 is used alone, the processing unit 302 can also process the image and video data captured by the camera module 202 , without affecting the power supply of the handheld gimbal 200 alone.

In this embodiment, the processing unit 302 may include an image transmission module encoding chip and a radio frequency chip. The above-mentioned encoding chip and radio frequency chip of the image transmission module can be disposed on the holding portion 201 of the handheld pan/tilt 200 , and are located at one end of the holding portion 201 close to the camera module 202 .

Preferably, the power supply module 23 may be disposed at one end of the handheld platform 200 away from the camera module 202 . Therefore, after the handheld gimbal 200 is connected to the flying device 100 , the power supply module 23 can be as close to the flying device 100 as possible, so as to supply power to the flying device 100 and shorten the length of the wires, and the processing unit 302 can also pass through the power supply module 23 Power supply, therefore, both sides of the power supply module 23 have power supply components, the structure is compact, and the electrical connection wires are shortest.

In some other embodiments, a wireless communication unit 301 and a processing unit 302 may also be provided on the aircraft 100 . In some other embodiments, a wireless communication unit 301 and a processing unit 302 are also provided on the handheld platform 200. Therefore, a redundant design can be implemented, so that when a problem occurs in one of the wireless communication units 301 and/or the processing units 302 , the image transmission function can be implemented through the other wireless communication units 301 and/or processing units 302 .

In some other embodiments, the wireless communication unit 301 and the processing unit 302 may be provided only on the flight device 100 , or the wireless communication unit 301 and the processing unit 302 may be provided only on the handheld gimbal 200 .

In this embodiment, as shown in FIG. 1 , the wireless communication unit 301 may include a radio frequency antenna, and in other embodiments, the wireless communication unit 301 may also be WiFi, or other modules that can realize long-distance wireless communication.

Of course, in this embodiment, the wireless communication unit 301 includes a radio frequency antenna. The radio frequency antenna has a long communication distance and can realize long-distance communication. preferred. The radio frequency antenna is at least partially disposed on the arm 102 of the flying device 100 . When the unmanned aerial vehicle is flying, it needs to communicate with the control terminal 400 on the ground side, and the reliability of communication with the ground side is relatively high. For the flying device 100, the shielding at the arm 102 is the least, so the radio frequency antenna is arranged on the arm 102. It can effectively reduce the occlusion of the signal and ensure the integrity and reliability of the signal as much as possible.

Preferably, each arm 102 of the flying device 100 is provided with radio frequency antennas. Since the signals emitted by each radio frequency antenna are not uniformly arranged around, by setting multiple radio frequency antennas, multiple angles can be realized. The signals are complementary to each other, thereby improving the reliability of the signal.

Further, as shown in FIG. 1 , the radio frequency antenna may extend along the length direction of the arm 102 . The length of the arm 102 may be equal to the length of the radio frequency antenna. When the length of the radio frequency antenna is longer, the involved signal coverage is wider and the signal reliability is better. Of course, in some other embodiments, the length of the radio frequency antenna may also be smaller than the length of the machine arm 102 .

In some other embodiments, the radio frequency antennas can also be centrally arranged on the handheld gimbal 200; or, they can be centrally arranged on the flight device 100; redundant transmission. The machine arm 102 in this embodiment may be in the shape of a hollow rod, and the machine arm 102 may have an opening along the length direction to facilitate the installation of the radio frequency antenna. Alternatively, the machine arm 102 may be in the shape of a solid rod, and the radio frequency antenna may be attached to the machine The outer surface of the arm 102 may be detachably fixed to the surface of the machine arm 102 through fasteners, and the present application is not limited thereto.

FIG. 12 is a schematic diagram of the electrical control of the flight control module and the power system of the unmanned aerial vehicle according to the embodiment of the application. As shown in FIG. 12 , in some embodiments, the flight device 100 may include a flight control module 103 and a power system 104 . The flight control module 103 is used for communicating with the power system 104 , and the flight control module 103 is used for controlling power output. Since the flying device 100 has a power supply source only after the flying device 100 is electrically connected to the handheld gimbal 200 , the flight control module 103 and the power system 104 can communicate with each other only when the flying device 100 and the handheld gimbal 200 are in a combined state. connect to communicate.

In this embodiment, the power system 104 is mainly used to drive the propeller 1041 to rotate, so as to provide power for the flying device to fly. The flight control module 103 controls the rotational speed and/or steering of each propeller 1041, thereby realizing switching of various flight modes of the unmanned aerial vehicle.

Further, please refer to FIG. 3 a , FIG. 3 b , FIG. 4 and FIG. 12 , the power system 104 of this embodiment includes: a propeller 1041 , a motor 1042 and an electronic governor 1043 .

Specifically, the output shaft of the motor 1042 can be fixedly connected with the propeller 1041 to drive the propeller 1041 to rotate. Specifically, each propeller 1041 may include at least two blades 1041a, and a propeller seat or a propeller clip 1041b connecting the at least two propeller blades 1041a, and the output shaft of the motor 1042 may be connected to the center of the propeller seat or propeller clip 1041b.

The flight control module 103 is used for communicating with the electronic governor 1043 , and the electronic governor 1043 is electrically connected with the motor 1042 , and the electronic governor 1043 is used for controlling the rotational speed of the motor 1042 according to the control signal sent by the flight control module 103 and/or steering. As for the control signal sent by the flight control module 103, the flight control module 103 can communicate with the control terminal 400 on the ground side, so that the control terminal 400 on the ground side can send control information to the flight control module 103, so that the flight control module 103 can send each electronic The governor 1043 sends a control command, so that each electronic governor 1043 controls the rotational speed and/or steering of the motor 1042 corresponding to each propeller 1041 respectively.

Referring to FIG. 12 , the UAV provided by the present application may further include an obstacle avoidance module 105 , and the obstacle avoidance module 105 may be used to detect at least obstacle information in the flight direction. The obstacle avoidance module 105 and the flight control module 103 can be respectively connected to the control terminal 400 for communication, and the obstacle avoidance module 105 is used to send the obstacle information to the control terminal 400, so that the control terminal 400 determines the flight control information according to the obstacle information, and sends the information to the control terminal 400. The determined flight control information is sent to the flight control module 103, and then the flight control module 103 can send flight control information to deal with obstacles according to the obstacle information. Based on this solution, the user can send corresponding flight control information through the control terminal 400 according to the obstacle information detected by the obstacle avoidance module 105, so that the flight control module 103 controls the flight mode of the unmanned aerial vehicle to avoid obstacles, and then Realize the obstacle avoidance of people in the loop, improve the safety of the use of unmanned aerial vehicles, and improve the user's sense of experience.

In this embodiment, the obstacle avoidance module 105 may be provided in the flying device 100 and/or the handheld gimbal 200 . In this embodiment, the obstacle avoidance module 105 may include one or more. In some embodiments, the obstacle avoidance module 105 is disposed on the handheld gimbal, and the obstacle avoidance module 105 is fixed or movably disposed on the grip portion 201 , and the obstacle avoidance module 105 always faces the flight direction of the flying device 100 . It should be noted that the fact that the obstacle avoidance module 105 always faces the flight direction of the flight device 100 means that the shooting direction or the signal emission direction of the obstacle avoidance module 105 always faces the flight direction of the flight device 100 , regardless of whether the obstacle avoidance module 105 is flying forward or backwards, it can avoid Reliable obstacle avoidance by the obstacle module 105.

When the obstacle avoidance module 105 is movably mounted on the grip portion 201 , the obstacle avoidance module 105 can be driven to rotate, so that the shooting direction or the signal emission direction of the obstacle avoidance module 105 always faces the flight direction of the aircraft 100 .

In this embodiment, preferably, the obstacle avoidance module 105 may be an obstacle avoidance camera. The obstacle avoidance camera is small in size and is very suitable for application in the handheld pan/tilt 200. Of course, in other embodiments, the obstacle avoidance module 105 It can be replaced by larger obstacle avoidance modules such as lidar, for example, flash lidar, single-point lidar, ultrasonic radar, etc.

In an optional embodiment, the obstacle avoidance module 105 includes a plurality of obstacle avoidance modules 105 , and the plurality of obstacle avoidance modules 105 may also be disposed at the end of the aircraft arm 102 of the flying device 100 . The obstacle avoidance module 105 is arranged at the end of the machine arm 102 , with less occlusion, and it is easier to detect surrounding obstacles. Furthermore, an obstacle avoidance module 105 may be provided at the end of each arm 102, and the signal sending and receiving directions of the obstacle avoidance modules 105 on each arm 102 are staggered up and down, so that the multiple obstacle avoidance modules form a 360° full range. to avoid obstacles. The signal sending and receiving directions of the obstacle avoidance modules 105 on each arm 102 are staggered up and down to form omnidirectional fisheye obstacle avoidance. When there are four arms 102 , there are correspondingly four obstacle avoidance modules 105 and four obstacle avoidance modules 105 Six binocular systems can be formed, and the six binocular systems can then achieve 360° omnidirectional obstacle avoidance.

In order to further improve the user experience, in some embodiments, the holding part 201 further has a display module 106 , and the display module 106 is connected in communication with the camera module 202 of the handheld gimbal 200 . In this embodiment, the display module 106 may be a display screen, and the display module 106 is used to display the image captured by the camera module 202 . 106 to view the captured picture.

Further, the UAV of this embodiment further includes a positioning module 107 , and the positioning module 107 is used to determine the relative position of the flying device 100 with respect to the ground, thereby determining the flight trajectory of the flying device 100 . The positioning module 107 can be connected to the control terminal 400 in communication, so as to send the flight trajectory information to the control terminal 400 . The positioning module 107 can be disposed on the arm 102 of the flying device 100 to reduce occlusion. The positioning module 107 can be a camera, and the camera can be oriented downward to locate the position of the UAV relative to the ground. Through the setting of the positioning module 107, the unmanned aerial vehicle can be positioned accurately, and the user can accurately observe the current position of the unmanned aerial vehicle.

In order to make the picture captured by the camera module 202 clear, the holding part 201 can be rotatably connected with the camera module 202 of the handheld platform 200 through the first shaft assembly M1, the second shaft assembly M2 and the third shaft assembly M3, so as to achieve The effect of the three-axis stabilizer.

In some embodiments, as shown in FIGS. 3 a and 3 b , the first shaft assembly M1 includes a first rotating shaft M11 and a first connecting arm M12 , and one end of the first connecting arm M12 and the holding portion 201 are pivoted through the first rotating shaft M11 Rotationally connected, the first rotation axis M11 is parallel to the yaw axis of the unmanned aerial vehicle.

The second shaft assembly M2 includes a second rotating shaft M21 and a second connecting arm M22, the other end of the first connecting arm M11 is fixedly connected to one end of the second connecting arm M22, and the other end of the second connecting arm M22 is pivoted with the second rotating shaft M21 The second rotation axis M21 is parallel to the pitch axis of the UAV.

The third shaft assembly M3 includes a third rotating shaft (not shown in the figures, located at the rear end of the camera module 202 in FIGS. 3 a and 3 b ) and a third connecting arm M32 , one end of the third connecting arm M32 pivots with the second rotating shaft In connection, the other end of the third connecting arm M32 is pivotally connected to the camera module 202 through a third rotating shaft, and the third rotating shaft is parallel to the roll axis of the unmanned aerial vehicle.

Through the above arrangement, the yaw-pitch-roll configuration is formed. The end close to the camera module 202 is the roll axis, which controls the roll; the end close to the grip part 202 is the yaw axis, which controls the yaw; the pitch axis between them is the pitch axis. Among them, the roll axis has a controllable rotation range of more than ±100°, and can be rotated 90° to switch between horizontal and vertical shooting of the camera screen; and the yaw axis has a controllable rotation range of more than ±270°, when the obstacle avoidance module 105 When installed on the grip portion 202, the obstacle avoidance module 105 can follow the rotation of the yaw axis to rotate, so that the obstacle avoidance module 105 is always oriented towards the horizontal component direction of the UAV flight speed vector, that is, at or near the level of the UAV. When flying, it always faces the flight direction of the unmanned aerial vehicle, so the obstacle avoidance module 105 can always detect obstacles in the flying direction, so as to realize reliable obstacle avoidance in the flying direction of the unmanned aerial vehicle.

The design of the three-axis stabilizer provided in this embodiment enables the hand-held gimbal 200 to switch between the horizontal and vertical positions of the camera module 202, and the gimbal has the largest deflection range, and the yaw axis has a range of more than ±270°. Controllable rotation range, that is, with a rotation range of more than one week.

Of course, in some other embodiments, for example, a yaw-roll-pitch configuration that cannot switch between horizontal and vertical shooting, or a roll-yaw-pitch, roll-pitch-yaw, pitch that cannot deflect the gimbal for more than one week can also be used -roll-yaw, pitch-yaw-roll, and solutions that change the configuration of the gimbal without changing the overall layout should also be considered as alternatives to this application.

10a is a schematic diagram of the state of the unmanned aerial vehicle provided by an embodiment of the application before the landing gear is installed; FIG. 10b is a schematic diagram of the state of the unmanned aerial vehicle provided by an embodiment of the application with the landing gear installed; On the basis, further, as shown in FIG. 10a and FIG. 10b , the camera module 202 can be rotatably connected with the holding part 202 through the first shaft assembly M1, and the unmanned aerial vehicle can include a landing gear 500, and the landing gear 500 can be arranged on the handheld cloud. For the platform 200, preferably, the landing gear 500 can be detachably connected with the first shaft assembly M1, so that the landing gear 500 can be detached from the handheld platform 200, so as to adapt to different application scenarios.

Since the camera module 202 is rotatably connected to the holding portion 202 through at least the first shaft assembly M1, and the landing gear 500 is fixed to the first shaft assembly M1, the camera module 202 is rotated with the first shaft assembly M1 as the rotation center during the rotation process. , the landing gear 500 can rotate with the first shaft assembly M1 , that is, rotate with the camera module 202 . Therefore, during the rotation of the gimbal, the landing gear 500 will not block the field of view of the camera module 202 .

In some other embodiments, the landing gear 500 may be connected to the grip portion 202 of the handheld gimbal 200 . The landing gear 500 can be detachably connected with the grip portion 202 of the handheld gimbal 200 , so that the landing gear 500 can be detached from the handheld gimbal 200 so as to adapt to the unused scene.

For the connection method between the landing gear 500 and the first shaft assembly M1, specifically, the landing gear 500 can be connected to the motor housing of the first shaft assembly M1 of the gimbal through a buckle. As shown in FIG. 9a, the landing gear 500 can be inserted laterally on the motor housing, and can rotate with the first rotating shaft M11 , that is, rotate with the camera module 202 . Therefore, when the camera module 202 is rotated, the landing gear 500 will not block the field of view of the camera module 202 .

By setting the landing gear 500, the unmanned aerial vehicle can also take off and land through the landing gear 500, and the landing gear 500 can be detachably connected to the handheld gimbal 200, so that the user can switch the take-off and landing modes according to their own needs. Taking off and landing by the landing gear 500, or by holding the holding part 202 of the handheld pan/tilt 200, the take off and landing can be realized, and the use flexibility of the whole machine is improved.

In some embodiments, the landing gear 500 of the unmanned aerial vehicle may include a retracted state and a lowered state; in the retracted state, the landing gear 500 at least avoids the shooting angle of the camera module of the handheld gimbal 200; The drop frame 500 is lower than the camera module 202 . The landing gear 500 can move relative to the hand-held head 200 to switch between a retracted state (eg, shown by the thick dashed line in FIG. 9b ) and a lowered state (eg, the physical landing gear 500 in FIG. 9b ). It should be noted that the retracted state refers to a state in which the landing gear 500 avoids the shooting angle of the camera module 202 , and the lowered state refers to a state in which the landing gear 500 is lowered to support the entire UAV.

Specifically, there are many implementations for the accommodating and lowering of the landing gear 500 , for example, the following implementations are possible:

In some embodiments, the landing gear 500 may be integrally rotatably connected to the handheld gimbal 200 . In this way, the landing gear 500 can be folded relative to the handheld platform 200 and retracted upward to a retracted state, or rotated to a lowered state.

Optionally, in some embodiments, the landing gear 500 may be slidably connected to the handheld gimbal 200 as a whole, and the sliding direction of the landing gear 500 is consistent with the length direction of the handheld gimbal 200 . Alternatively, in some embodiments, the landing gear 500 includes at least two sections of support rods hinged to each other; the landing gear 500 includes at least two sections of support rods that are slidably connected to each other. In the above two embodiments, the landing gear 500 is stored in a retracted manner, and can also be switched between the retracted state and the lowered state. It should be noted that the retracting direction of the landing gear 500 provided by the embodiment of the present application is a direction away from the direction where the camera module 202 of the handheld gimbal 200 is located.

The landing gear 500 provided in the above-mentioned embodiment can be lowered automatically or controlled to protect the camera module 202 when the unmanned aerial vehicle lands. During the flight of the unmanned aerial vehicle, the landing gear 500 can be retracted automatically or controlled to avoid affecting the shooting angle of the camera module 202 during the flight.

It should be noted that, when the length of the landing gear 500 is long enough, and when the landing gear 500 can be folded away from the camera module 202 , the landing gear 500 can be used as a tripod or an extension rod of the handheld gimbal 200 .

In some embodiments, a landing gear driving module (not shown in the figure) is further included, and the landing gear driving module is used to drive the landing gear 500 to move, so that the landing gear 500 can be switched between the retracted state and the retracted state. For example, when the movement mode of the landing gear 500 is rotation, the landing gear driving module may include a rotary motor, and when the movement mode of the landing gear 500 is extending or retracting, the landing gear driving module may include a linear motor.

Further, on the basis of the above-mentioned embodiment, an operating state monitoring device (not shown in the figure) may also be included, and the operating state monitoring device may be electrically connected with the landing gear drive module to monitor the operating state of the unmanned aerial vehicle. information, and send the operating status information to the landing gear driving module, so that the landing gear driving module drives the landing gear 500 to move according to the operating status information. The unmanned aerial vehicle will have energy supply modules such as batteries to supply power to the electrical components of the unmanned aerial vehicle, and the operating status information includes battery power information and/or battery temperature information. In this embodiment, when it is detected that the unmanned aerial vehicle is in a low power state or the battery temperature is higher than a predetermined value, etc., the landing gear driving module can drive the landing gear 500 to automatically lower to be in a lowering state to prepare to descend to the ground. In order to avoid damage to the camera module 202 caused by collision during the descending process.

In some optional embodiments, the landing gear driving module may also be connected in communication with the control terminal 400 , and the landing gear driving module is configured to control and drive the landing gear 500 to move according to the control command sent by the control terminal 400 . When the UAV executes the preset return command in the program, it can be triggered by the user triggering the return and landing commands of the control terminal. If the lens is damaged, the user terminal can actively trigger the control command to make the landing gear 500 automatically lower, or the user can trigger the control command before the unmanned aerial vehicle lands according to the flight plan, so that the landing gear drive module drives the landing gear 500 automatically Drop for a safe alternate landing.

In some embodiments, a flight kit is also provided, including a flight device 100 and a handheld gimbal 200; the working modes of the flight device 100 and the handheld gimbal 200 include a flight mode and a handheld mode. The so-called flight mode means that the current unmanned aerial vehicle has the take-off function and can be triggered to take off at any time, while the hand-held mode means that the current unmanned aerial vehicle loses its take-off ability, which is similar to a handheld gimbal. In the flying mode and the handheld mode, the flying device 100 and the handheld gimbal 200 can always be mechanically connected together, or in the flying mode, the flying device 100 and the handheld gimbal 200 are mechanically connected together, and in the handheld mode, the flying device 100 and the handheld gimbal 200 can be mechanically connected together. The device 100 is separated from the handheld gimbal 200 .

The handheld gimbal 200 may have at least one operation module. When the flying device 100 and the handheld gimbal 200 are in a combined state, the at least one operation module is used to obtain the user's operation and determine the working mode of the flight kit according to the user's operation. . The operation of the user may be a single click, a double click, a slide, or the like.

The functionality of the operating module in the airplane mode may differ from the functionality of the operating module in the handheld mode. Specifically, the operation module includes at least one of the following: a button, a display screen, a knob, and a joystick. The user can operate the above-mentioned operation modules to trigger the corresponding functions of the flight kit. When the flight kit is in the flight mode and the handheld mode, the same operation module can correspond to different functions, so as to save the settings of the operation module and help reduce the cost.

In this embodiment, the handheld gimbal 200 can establish an electrical connection with the flying device 100 to be in the flying mode; and/or the handheld gimbal 200 can be disconnected from the flying device 100 to be in the handheld mode.

The flying device 100 may have a first electrical connection part 12 , and the handheld gimbal 200 may have a second electrical connection part 22 . The first electrical connection part 12 and the second electrical connection part 22 can be docked to establish the connection between the flying device 100 and the handheld gimbal 200 . electrical connection. The first electrical connection portion 12 and the second electrical connection portion 22 in this embodiment may adopt the first electrical connection portion 12 and the second electrical connection portion 22 in the above-mentioned embodiments, and the specific structures and functions thereof can be referred to the descriptions of the above-mentioned embodiments. , which is not repeated in this embodiment.

In some embodiments, a detection module is also included. The detection module can be provided on the handheld pan/tilt 200 and is electrically connected to the second electrical connection part 22 and the operation module respectively. The detection module can be used to detect the electrical power of the second electrical connection part 22 . Connection status to judge the working mode of the flight kit. For example, when it is detected that the second electrical connection portion 22 has current flowing through it, it can be determined that the flight device 100 and the handheld gimbal 200 have established an electrical connection, and the two are in the flight mode. When passed, it can be determined that the flight device 100 and the handheld gimbal 200 are not electrically connected, and both are in the handheld mode.

Further, a control module may also be included, and the control module may be connected in communication with the operation module; in the flight mode, when the operation module is triggered by different triggering methods, the control module controls the unmanned aerial vehicle to operate in different ways. When the flying device 100 and the handheld gimbal 200 are in the flying mode, the user can operate the operation module in different operation modes to realize different control of the unmanned aerial vehicle.

Specifically, in some embodiments, in the flight mode, when the operation module can be triggered by the first triggering manner, the control module controls the flight kit to take off. For example, when the display screen on the handheld gimbal 200 is an operation module, the first triggering method may be an upward sliding gesture triggered on the display screen of the handheld gimbal 200. When the system recognizes the sliding gesture, The control module can send a control signal to the flight control module 103, and the flight control module 103 controls the action of the power system 104 to rotate the propeller 1041, and the unmanned aerial vehicle can take off. Of course, in some other embodiments, the first triggering manner may be a click or other predetermined gestures. This application is not limited. Of course, in some embodiments, to trigger the flight kit to take off, the operation module may also be a button, and correspondingly, the first triggering manner may be pressing the button.

In some embodiments, in the flight mode, when the operation module can be triggered by the second trigger mode, the control module controls the handheld gimbal 200 to shoot or controls the gimbal of the handheld gimbal 200 to rotate. For example, when the display screen on the handheld gimbal 200 is the operation module, the first triggering method may be to click a preset shooting icon on the display screen to trigger the handheld gimbal 200 to shoot.

In some embodiments, in the handheld mode, when the operation module is also triggered by the third trigger mode, the control module controls the handheld pan/tilt to shoot or controls the pan/tilt of the handheld pan/tilt to rotate. When the display screen on the handheld gimbal 200 is the operation module, the third triggering method can be to double-click the preset shooting icon on the display screen to trigger the handheld gimbal 200 to shoot in the handheld mode.

Based on the above, in a specific application scenario, after the flight device 100 is connected to the handheld gimbal 200, the user can first take a ground shot (selfie, etc.) on the ground, and then trigger the unmanned aerial vehicle to fly, thereby entering the flight mode, realizing two A seamless transition of shooting effects.

It is worth noting that in the above two different operating modes, the power supply chain is also different. Specifically, the handheld gimbal 200 has a power supply module 23 , and the flying device 100 is powered by the power supply module 23 of the handheld gimbal 200 .

In the flight mode, the power supply module 23 can supply power to the flight device 100 and the camera module 202 of the handheld gimbal 200 respectively, so as to realize dual power supply circuits. In some optional embodiments, in the airplane mode, the power supply module 23 can supply power to the camera module 202 of the handheld gimbal 200 and the flying device 101 in sequence, so as to realize single-circuit power supply. When the UAV is in the handheld mode, the power supply module 23 can supply power to the handheld gimbal 200 at most.

In some embodiments, the power supply module 23 itself can also recognize that the electric connection between the flying device 100 and the handheld gimbal 200 is established, and then the conduction of the power-on circuit is triggered. Some embodiments of the present application also provide a flying device for cooperating with the above-mentioned handheld gimbal, which includes: a fuselage 101 for detachable connection with the handheld gimbal 200 , and the flying device 100 can be connected with the handheld gimbal 200 or separate, to be in a combined state or a separate state. In the assembled state, the handheld gimbal 200 is protruded from the flying device 100 to form an unmanned aerial vehicle. One end of the handheld gimbal 200 is connected to the flying device 100 , and the grip portion 202 of the handheld gimbal 200 is disposed away from the flying device 100 to The holding part 202 can be held by the user, so as to realize the hand-held take-off and landing of the unmanned aerial vehicle; in the separated state, the hand-held pan/tilt 200 can be used alone. Some embodiments of the present application also provide a flying device, the flying device includes a fuselage 101 and an arm 102, the fuselage 101 can be detachably connected to a functional module; the arm 102 is rotatably connected to the fuselage, so that the aircraft The arm 102 has a retracted state and an unfolded state; the functional module can be connected or separated from the fuselage to be in a combined or separated state; when the functional module is connected to the fuselage in a combined state, the functional module can lock the arm 102 in the unfolded state. In some embodiments, the above-mentioned functional modules may be the above-mentioned handheld pan/tilt 200, or other functional modules.

The functional module may have a first fixing part. When the flying device 100 is in the unfolded state, a first matching part is formed between at least two adjacent arms 102; in the combined state, the first fixing part can cooperate with the first The parts are matched with each other to fix at least two adjacent arms 102 . Taking the handheld gimbal 200 as an example, in some embodiments, the flying device 100 may have a first connection part 11 and a first electrical connection part 12 , and the handheld gimbal 200 has a second connection part 21 and a second electrical connection part 22 , In the combined state, the first connecting portion 11 and the second connecting portion 21 are detachably connected, and the first electrical connecting portion 12 and the second electrical connecting portion 22 are butted to establish an electrical connection.

In some embodiments, in the combined state, the flying device 100 and the handheld gimbal 200 establish a power supply connection with the second electrical connecting part 22 through the first electrical connection part 12; and/or, in the combined state, the flying device 100 and The handheld gimbal 200 establishes a communication connection with the second electrical connection portion 22 through the first electrical connection portion 12 .

In some embodiments, the handheld gimbal 200 is provided with a power supply module 23 , and in a combined state, the handheld gimbal 200 supplies power to the flying device 100 through the power supply module 23 .

In some embodiments, the holding portion 201 has an accommodation cavity for accommodating the power supply module 23, and the power supply module 23 is detachably accommodated in the accommodation cavity.

In some embodiments, one of the first electrical connection portion 21 and the second electrical connection portion 22 includes an interface contact, and the other of the first electrical connection portion 21 and the second electrical connection portion 22 includes an interface ejector pin; when When the first connection part 11 is connected with the second connection part 21 , the interface contacts are in contact with the interface ejector pins to establish an electrical connection between the flying device 100 and the handheld gimbal 200 .

In some embodiments, an image transmission module 300 is further included, the handheld pan/tilt 200 includes a camera module 202 , and the image transmission module 300 is configured to communicate with the camera module 202 .

In some embodiments, in the combined state, the image transmission module 300 is connected in communication with the camera module 202 of the handheld gimbal 200 and the control terminal 400 .

In some embodiments, the image transmission module 300 includes a wireless communication unit 301 and a processing unit 302. The wireless communication unit 301 is provided on the flight device 100, and the processing unit 302 is provided on the handheld gimbal. The wireless communication unit 301 and the processing unit 302 pass through In the combined state, the electrical connection established between the flying device 100 and the handheld gimbal 200 realizes communication.

In some embodiments, the flying device 100 includes a fuselage 101 and an arm 102 , and a plurality of arms 102 are arranged around the fuselage 101 when the UAV is in a flying state.

In some embodiments, the wireless communication unit 301 includes a radio frequency antenna, and the radio frequency antenna is disposed at least partially on the arm 102 of the flying device 100 . Each arm 102 of the flying device 100 is provided with a radio frequency antenna. The radio frequency antenna may extend along the length of the arm 102 .

In some embodiments, the flight device 100 includes a flight control module 103 and a power system 104 . The flight control module 103 is used to communicate with the power system 104 , and the flight control module 103 is used to control the power output of the power system 104 .

In some embodiments, power system 104 includes propeller 1041 , electric motor 1042 and electronic governor 1043 .

The output shaft of the motor 1042 is fixedly connected to the propeller 1041 for driving the propeller 1041 to rotate; the flight control module 103 is used for the communication connection of the electronic governor 1043, and the electronic governor 1043 is electrically connected to the motor 1042, and the electronic governor 1043 It is used to control the rotation speed and/or steering of the motor 1042 according to the control signal sent by the flight control module 103 .

In some embodiments, an obstacle avoidance module 105 is further included, and the obstacle avoidance module 105 is at least used to detect obstacle information in the flight direction. The obstacle avoidance module 105 and the flight control module 103 are respectively connected in communication with the control terminal 400, and the obstacle avoidance module 105 is used to send the obstacle information to the control terminal 400, so that the control terminal determines the flight control information according to the obstacle information, and sends the determined flight control information to the control terminal 400. The flight control information is sent to the flight control module 103 .

In some embodiments, the obstacle avoidance module 105 is provided in the flying device 100 and/or the handheld gimbal 200 .

In some embodiments, the obstacle avoidance module 105 is disposed on the handheld gimbal 200, and the obstacle avoidance module 105 is disposed on the grip portion 201, and the obstacle avoidance module 105 always faces the flight direction of the flying device 100;

In some embodiments, the obstacle avoidance module 105 is disposed at the end of the arm 102 of the flying device 100 .

In some embodiments, an obstacle avoidance module 105 is provided at the end of each arm 102, and the signal transmission and reception directions of the obstacle avoidance modules 105 on each arm 102 are staggered up and down, so that the plurality of obstacle avoidance modules 105 form a 360° angle. omnidirectional obstacle avoidance.

In some embodiments, the holding part 201 has a display module 106 , and the display module 106 is communicatively connected to the camera module 202 of the handheld gimbal 200 .

In some embodiments, a positioning module 107 is further included, and the positioning module 107 is configured to determine the relative position of the flying device with respect to the ground, thereby determining the flight trajectory of the flying device 100 . The positioning module 107 is connected in communication with the control terminal 400 to send the flight trajectory information to the control terminal 400 .

In some embodiments, the positioning module 107 is provided on the arm 102 of the flying device 100 .

In some embodiments, the holding part 201 is rotatably connected with the camera module 202 of the handheld pan/tilt head 200 through the first shaft assembly M1 , the second shaft assembly M2 and the third shaft assembly M3 .

In some embodiments, the first shaft assembly M1 includes a first rotating shaft M11 and a first connecting arm M12, one end of the first connecting arm M12 is pivotally connected to the holding portion 201 through the first rotating shaft M11, and the first rotating shaft M11 is connected with the The yaw axis of the human aircraft is parallel;

The second shaft assembly M2 includes a second rotating shaft M21 and a second connecting arm M22, the other end of the first connecting arm M12 is fixedly connected to one end of the second connecting arm M22, and the other end of the second connecting arm M22 is pivoted with the second rotating shaft M21 The second rotation axis M21 is parallel to the pitch axis of the UAV.

The third shaft assembly M3 includes a third rotating shaft M31 and a third connecting arm M32, one end of the third connecting arm M32 is pivotally connected to the second rotating shaft M21, and the other end of the third connecting arm M32 and the camera module 202 pass through the third rotating shaft M31 In pivot connection, the third rotation axis M31 is parallel to the roll axis of the unmanned aerial vehicle.

In some embodiments, the camera module 202 is rotatably connected to the holding portion 202 through the first shaft assembly M1, the unmanned aerial vehicle includes a landing gear 500, and the landing gear 500 is detachably connected to the first shaft assembly M1, so that the landing gear 500 Follow the rotation of the first shaft assembly M1.

In some embodiments, the flying device 100 has a fuselage 101 and a plurality of arms 102 , and the plurality of arms 102 are rotatably connected with the fuselage 101 , so that the flying device 100 has a folded state and an unfolded state.

In some embodiments, in the collapsed state, the plurality of arms 102 are substantially parallel;

And/or, in the deployed state, the plurality of arms 102 are evenly arranged around the fuselage 101 of the flying device 100 .

In some embodiments, the flying device 100 has a first connecting part 11 , and the handheld gimbal 200 has a second connecting part 21 , and the first connecting part 11 and the second connecting part 21 can be connected to lock the flying device in the unfolded state.

In some embodiments, the end of the arm 102 away from the fuselage has a paddle 1051a, a paddle seat and a paddle clip 1041b, the power system includes a motor 1042, and the motor 1042 is fixedly connected with the paddle seat or paddle clip 1041b for driving The paddle seat or paddle clip 1041b rotates, thereby driving the paddle 1041a to rotate.

In some embodiments, each arm 102 has at least two paddles 1041a pivotally connected to paddle mounts or paddle clips 1041b, respectively, to enable the paddles 1041a to fold relative to the arm 102 . When the flying device 100 is in the unfolded state, a accommodating groove C is formed between at least two adjacent arms 102 , and a locking protrusion D is provided on the handheld gimbal 200 . When the first connecting portion 11 and the second connecting portion 21 To connect, the locking protrusion D is snapped into the receiving groove C to lock the flying device 100 in the unfolded state. The locking protrusion D is formed on the second connecting portion 21 .

As shown in FIG. 4 and FIG. 7 a , the arm 102 may have a first contact surface S1 for contacting with the locking protrusion D, and the first contact surface S1 abuts against the locking protrusion D in the unfolded state. The handheld pan/tilt 200 has a body, the locking protrusion D is provided on the handheld pan/tilt 200, and the arm 102 has a second contact surface S2 for contacting the handheld pan/tilt 200. In the unfolded state, the second contact surface S2 is connected to the handheld pan/tilt The PTZ 200 reaches the top.

In some embodiments, the connection manner of the first connection part 11 and the second connection part 21 includes at least one of the following: screw connection, snap connection, and magnetic attraction.

In some embodiments, the connection manner of the first connection part 11 and the second connection part 21 includes a snap connection; one of the first connection part 11 and the second connection part 21 has a first clamping part 211 , the first The other one of the connecting part 11 and the second connecting part 21 has a first matching part 111 which is matched with the first clamping part 211 , and the first clamping part 211 can be engaged with the first matching part 111 , so that the first The connection portion 11 is connected to the second connection portion 21 .

In some embodiments, the first holding part 211 is connected with a driving part 212 , and the driving part 212 is used for receiving an external driving force to drive the first holding part 211 to move.

In some embodiments, a shock absorbing module 24 is provided on a side of the handheld pan/tilt head 200 close to the second connecting portion 21 . The second connecting portion 21 is disposed at one end of the holding portion 201 , and the shock absorbing module 24 is disposed between the holding portion 201 and the second connecting portion 21 . The damping module 24 is disposed between the second connecting portion 21 and the body 101 .

In some embodiments, the handheld gimbal 200 further has a third connection part 31 and a third electrical connection part 32 , the third connection part 31 is used for detachable connection with an external communication device, and the third electrical connection part 32 is used for connection with the external communication device. The external communication device establishes an electrical connection to enable at least data transmission.

In some embodiments, a handheld gimbal 200 is provided, the handheld gimbal 200 is used to connect with the flying device 100, and the working modes between the flying device 100 and the handheld gimbal 200 include the flying mode and the handheld mode;

There is an operation module on the handheld platform 200, and the operation module is used to identify the preset operation instruction to determine the working mode of the unmanned aerial vehicle;

The function of operating the module in airplane mode is different from the function of operating the module in hand-held mode.

In some embodiments, a flying device 100 is provided, the flying device 100 is used for connecting with the handheld gimbal 200, and the working modes between the flying device 100 and the handheld gimbal 200 include the flying mode and the handheld mode;

There is an operation module on the handheld pan/tilt 200, and the operation module is used to identify the preset operation instruction to determine the working mode of the unmanned aerial vehicle;

In some embodiments, the handheld gimbal 200 can establish an electrical connection with the flying device 100 to be in an airplane mode;

And/or, the handheld gimbal 200 can be electrically disconnected from the flying device 100 to be in the handheld mode.

In some embodiments, the flying device 100 has a first electrical connection part 12 , and the handheld gimbal 200 has a second electrical connection part 22 . The gimbal establishes an electrical connection.

In some embodiments, a detection module is further included, the detection module is electrically connected to the second electrical connection part 22 and the operation module respectively, and the detection module is used to detect the electrical connection state of the second electrical connection part 22 to judge the operation of the unmanned aerial vehicle model.

In some embodiments, the operation module includes at least one of the following: a button, a display screen, a knob, and a joystick.

In some embodiments, a control module is further included, and the control module is connected in communication with the operation module; in the flight mode, when the operation module is triggered by different triggering methods, the control module controls the unmanned aerial vehicle to operate in different ways.

In some embodiments, in the flight mode, when the operation module is triggered by the first triggering manner, the control module controls the flight kit to take off.

In some embodiments, in the flight mode, when the operation module is triggered by the second triggering manner, the control module controls the handheld gimbal 200 to shoot or controls the gimbal of the handheld gimbal 200 to rotate.

In some embodiments, in the handheld mode, when the operation module is triggered by the third trigger mode, the control module controls the handheld pan/tilt 200 to shoot or controls the pan/tilt of the handheld pan/tilt 200 to rotate.

In some embodiments, the handheld gimbal 200 has a power supply module 23;

In the flight mode, the power supply module 23 supplies power to the flight device 100 and the camera module 202 of the handheld gimbal 200 respectively;

Alternatively, in the flight mode, the power supply module supplies power to the camera module 202 of the handheld gimbal 200 and the flight device 100 in sequence.

In some embodiments, in the handheld mode, the power supply module 23 supplies power to the handheld gimbal 200 at most.

It should be noted that, the flying device 100 provided in this embodiment may adopt the flying device 100 in the unmanned aerial vehicle described in any of the above embodiments, and the handheld gimbal 200 applied thereto may refer to the description of the above embodiments for details. , and will not be repeated here.

Some embodiments of the present application further provide a handheld gimbal 200, including: a grip portion 201; the handheld gimbal 200 is used for detachable connection with the flying device 100, so that the unmanned aerial vehicle has a combined state and a separated state; in the combined state Next, the hand-held gimbal 200 is disposed below the flying device 100, one end of the hand-held gimbal 200 is connected to the flying device 100, and the holding portion 201 of the hand-held gimbal 200 can be set away from the flying device 100, so that the holding portion 201 can For users to hold, so as to realize the hand-held take-off and landing of the unmanned aerial vehicle; in the separated state, the hand-held gimbal can be used alone.

In some embodiments, the flying device 100 has a first connecting part 11 and a first electrical connecting part 12 , and the handheld gimbal 200 has a second connecting part 21 and a second electrical connecting part 22 . In the combined state, the first connecting part 11 and the second connecting part 21 are detachably connected, and the first electrical connecting part 12 and the second electrical connecting part 22 are butted to establish an electrical connection.

In some embodiments, an obstacle avoidance module 105 is further included, and the obstacle avoidance module 105 is at least used to detect obstacle information in the flight direction. The obstacle avoidance module 105 and the flight control module 103 are respectively connected in communication with the control terminal 400, and the obstacle avoidance module 105 is used to send the obstacle information to the control terminal 400, so that the control terminal determines the flight control information according to the obstacle information, and uses the determined flight control information. The flight control information is sent to the flight control module 103 .

In some embodiments, the flying device 100 has a first connecting portion 11 , and the handheld gimbal 200 has a second connecting portion 21 . The first connecting portion 11 and the second connecting portion 21 can be connected to lock the flying device in the unfolded state.

In some embodiments, the end of the arm 102 away from the fuselage has a paddle 1041a, a paddle seat and a paddle clip 1041b, the power system includes a motor 1042, and the motor 1042 is fixedly connected with the paddle seat or paddle clip 1041b for driving The paddle seat or paddle clip 1041b rotates, thereby driving the paddle 1041a to rotate.

In some embodiments, each arm 102 has at least two paddles 1041a pivotally connected to paddle mounts or paddle clips 1041b, respectively, to enable the paddles 1041a to fold relative to the arm 102 .

When the flying device 100 is in the unfolded state, a accommodating groove C is formed between at least two adjacent arms 102 , and a locking protrusion D is provided on the handheld gimbal 200 . When the first connecting portion 11 and the second connecting portion 21 To connect, the locking protrusion D is snapped into the receiving groove C to lock the flying device 100 in the deployed state. The locking protrusion D is formed on the second connecting portion 21 .

In some embodiments, the connection manner of the first connection portion 11 and the second connection portion 21 includes at least one of the following: screw connection, snap connection, and magnetic attraction.

In some embodiments, the first holding part 211 is connected with a driving part 212, and the driving part 212 is used for receiving an external driving force to drive the first holding part 211 to move.

It should be noted that, the handheld gimbal 200 provided in this embodiment may adopt the handheld gimbal 200 in the unmanned aerial vehicle described in any of the above embodiments, and the handheld gimbal 200 used therein can refer to the above embodiments for details. description, which will not be repeated here.

Some embodiments of the present application further provide another unmanned aerial vehicle, comprising: a fuselage 101, an arm 102, and a gimbal mounted on the fuselage 101; the fuselage 101 has a first electrical connection part 11, and the gimbal has a second The electrical connection part 12; the wireless communication unit 301, at least partially installed on the machine arm 102, the wireless communication unit 301 is used to communicate with the control terminal to transmit image information; the processing unit 302, installed on the PTZ, the processing unit 302 communicates with the wireless The unit 301 establishes a communication connection with the second electrical connection part 22 through the first electrical connection part 21 .

The gimbal in this embodiment may be a handheld gimbal or a gimbal of a common unmanned aerial vehicle. When the gimbal is a handheld gimbal, the handheld gimbal described in the above embodiments may be used.

In the unmanned aerial vehicle of the present embodiment, in the combined state, the flying device 100 and the gimbal can be connected for communication through the first electrical connection portion 12 and the second electrical connection portion 22 . The image and video data sent by the image transmission module 300 may be radio frequency data, and the data volume of the radio frequency data is small, thereby reducing the transmission pressure of the first electrical connection portion 12 and the second electrical connection portion 22 , thus achieving reliable and stable performance. fast transmission. The wireless communication unit 301 of the image transmission module 300 is installed on the flying device, so that the wireless communication unit 301 is less blocked, and its signal strength and communication reliability with the control terminal 400 are ensured. The processing unit 302 is arranged on the gimbal, and when the gimbal is a handheld gimbal, the processing unit 302 can also process the image and video data captured by the camera module 202 when the gimbal is used alone, without affecting the handheld gimbal. 200 functions used individually.

In some embodiments, the wireless communication unit 301 includes a radio frequency antenna, and each arm 102 is provided with a radio frequency antenna.

In some embodiments, the radio frequency antenna extends along the length of the arm 102 .

In some embodiments, the gimbal is provided with a power supply module 23 , the power supply module 23 is electrically connected to the second electrical connection portion 22 , and the power supply module 23 of the gimbal is connected to the second electrical connection portion 22 through the first electrical connection portion 21 . Power the flying device 100 .

In some embodiments, a receiving cavity for accommodating the energy supply module 23 is provided in the pan/tilt head, and the energy supply module is detachably accommodated in the receiving cavity.

In some embodiments, one of the first electrical connection portion 21 and the second electrical connection portion 22 includes an interface contact, and the other of the first electrical connection portion 21 and the second electrical connection portion 22 includes an interface ejector pin.

In some embodiments, a plurality of arms 102 are arranged around the body 101 , and the gimbal is connected to the body 101 .

In some embodiments, the flight device 100 includes a flight control module 103 and a power system 104 , the flight control module 103 is connected in communication with the power system 104 , and the flight control module 103 is used to control the power output of the power system 104 .

In some embodiments, the unmanned aerial vehicle further includes an obstacle avoidance module 105, and the obstacle avoidance module 105 and the flight control module are respectively connected in communication with the control terminal 400. The obstacle avoidance module 105 is at least used to detect the obstacle information in the flight direction, and send the obstacle information to the control terminal 400, so that the control terminal determines the flight control information according to the obstacle information, and sends the determined flight control information to the control terminal 400. flight control module.

In some embodiments, the obstacle avoidance module 105 is provided on the flying device 100 and/or the gimbal.

In some embodiments, the obstacle avoidance module 105 is disposed on the gimbal, and the obstacle avoidance module 105 always faces the flight direction of the UAV;

In some embodiments, the obstacle avoidance module 105 is disposed at the end of the arm.

In some embodiments, an obstacle avoidance module 105 is provided at the end of each machine arm 102 , and the signal transmission and reception directions of the obstacle avoidance modules 105 on each machine arm 102 are staggered up and down.

In some embodiments, the pan/tilt has a display module 106 , and the display module 106 is connected to the camera module 202 in communication.

In some embodiments, a positioning module 107 is further included, and the positioning module 107 is configured to determine the relative position of the flying device with respect to the ground, thereby determining the flight trajectory of the flying device 100 .

In some embodiments, the positioning module 107 is connected in communication with the control terminal 400 to send the flight trajectory information to the control terminal 400 . In some embodiments, the positioning module 107 is disposed on the machine arm 102 .

In some embodiments, the pan/tilt has an adapter connected to the body 101 (when the pan/tilt is a handheld pan/tilt, the adapter is the handle 201 ), and the adapter passes through the first shaft assembly M1, the second The shaft assembly M2 and the third shaft assembly M3 are rotatably connected with the camera module 202 .

In some embodiments, the end of the arm 102 away from the fuselage 101 has paddles 10 , each arm has at least two paddles, and the at least two paddles are respectively pivotally connected to the arm.

In some embodiments, a shock absorption module 24 is provided between the body 101 and the gimbal.

It should be noted that the unmanned aerial vehicle provided in this embodiment may adopt the flying device 100 in the unmanned aerial vehicle described in any of the above embodiments, and the applied gimbal may be the handheld gimbal 200, or other gimbal, The related functions of the flying device 100 and the related structures and functions involved in the gimbal can be referred to the descriptions of the above embodiments, which will not be repeated here.

Based on any of the above embodiments, please refer to FIGS. 1-12 , an embodiment of the present application provides a flying device 100 , including: a power system 104 configured to propel the flying device 100 ; and a fuselage 101 , respectively passing through a plurality of The arms 102 are connected to a plurality of power systems 104, wherein when the flying device 100 is in a folded state, the plurality of arms 102 are folded to form a first aligned state and the plurality of motors form a second aligned state; wherein , the fuselage includes a connecting portion, and the fuselage 101 is used for detachable connection with the handheld gimbal 200 through the connecting portion; the arm 102 can be rotated toward the connecting portion, so that the flying device 100 can be in the folded state ; In the folded state, the arm is basically arranged around the connecting portion, and the arm 102 can be folded.

In some embodiments, each power system 104 includes a set of rotating components, and the sets of rotating components of the plurality of power systems 104 form a third alignment when in the folded state of the UAV 100 state.

In some embodiments, a plurality of rotating members are distributed on one side of the fuselage 101, and a corresponding one of the plurality of folding arms 102 has a proximal end rotatably connected to a corresponding rotating member of the plurality of rotating members .

In some embodiments, the plurality of motors 1042 are aligned in-line when in the folded state.

In some embodiments, each rotating member includes a receiving surface connected to a corresponding machine arm 102 (the receiving surface being perpendicular to the axis of rotation along which the corresponding machine arm 102 is configured to rotate), the plurality of receiving surfaces The receiving surfaces in the machine are provided with a plurality of rotors whose inclination angles are different from each other, so that when folded, the plurality of motors 1042 are aligned.

In some embodiments, a plurality of protection portions 1021 configured to removably cover the plurality of power systems 104 , respectively, are also included. For example, the protective part 1021 is a protective cover, and the protective cover is detachable; the number of paddles is not limited.

In some embodiments, wherein the UAV 100 includes four arms 102, and wherein, when in the unfolded state of the UAV 100, the four arms 102 extend from the The fuselage 101 extends substantially radially to form orthogonal alignment.

In some embodiments, the flying device 100 further comprises: a connecting part provided on the fuselage 101 and configured to be removably coupled to the hand-held head 200, the connecting part comprising: a mechanical connector 11, it is configured to be removably coupled to the handheld gimbal 200; and an electrical connector 12, which is configured to exchange electrical signals with the handheld gimbal 200 when the UAV 100 is coupled to the handheld gimbal 200 through the mechanical connector 11 .

In some embodiments, the flying device 100 further includes a plurality of antennas 301 , each antenna 301 being mounted along a corresponding one of the plurality of arms 102 of the flying device 100 .

In some embodiments, the flying device 100 also includes a visual positioning sensor 107 disposed on one of the plurality of arms 102 and positioned to capture ground information for visual positioning while propelling the flying device 100 .

Based on any of the foregoing embodiments, referring to FIGS. 1-12 , an embodiment of the present application provides a movable system kit, including the flying device 100 and the handheld gimbal 200 provided in any of the foregoing embodiments. The handheld gimbal 200 is movably coupled to the flying device 100 .

Based on any of the above embodiments, referring to FIGS. 1-12 , an embodiment of the present application provides a flying device 100 , including a plurality of arms 102 , the plurality of arms 102 are respectively connected to a device configured to propel the flying device The plurality of power systems 104 of 100; the flying device 100 for removably coupling with a handheld gimbal 200 including a connection provided on a first end of the handheld gimbal 200 for removably coupling to the flying device 100 and a support device on a second end opposite the first end and configured to be coupled to imaging device 202, wherein when the hand-held head 200 is coupled to the flying device 100, the coupling portion is configured to The positions of the plurality of arms 102 are locked.

Based on any of the above embodiments, please refer to FIGS. 1-12 , an embodiment of the present application further provides a handheld gimbal 200 including a connection provided on the first end of the handheld gimbal 200 to be movably coupled to the flying device 100 and a support device on a second end opposite the first end and configured to be coupled to the imaging device 202. The handheld gimbal 200 is used for coupling and connection with the flying device 100. The flying device 100 includes a plurality of arms 102, and the plurality of arms 102 are respectively connected to a plurality of power systems 104 configured to propel the flying device 100; the flying device 100 is used for movably coupling with a handheld gimbal 200 , wherein when the handheld gimbal 200 is coupled to the flying device 100 , the coupling portion is configured to lock the positions of the plurality of arms 102 .

specific:

In some embodiments, the flying device 100 further includes a fuselage 101 including: a plurality of rotating members configured to be rotatably coupled to proximal ends of the plurality of arms 102, respectively; and , the first connector 11 , which is configured to be removably coupled to the hand-held head 200 .

In some embodiments, the coupling portion of the handheld gimbal 200 further includes: a second connector 21 configured to be movably coupled to the first connector 11 of the flying device 100 , and one or more The first retaining portion 211 is detachably coupled to a plurality of rotors, wherein when the hand-held head 200 is coupled to the flying device 100 through the first connector 11 and the second connector 21, one or more first The holding parts 211 are configured to be fitted in one or more spaces between the plurality of rotating parts, respectively, to lock the positions of the plurality of rotating parts.

In some embodiments, each of the first connector 11 and the second connector 21 includes: a mechanical connector 11 configured to removably couple the flying device 100 to the handheld gimbal 200; and an electrical connector 11. A connector 21 configured to exchange electrical signals between the flying device 100 and the handheld gimbal 200 when the flying device 100 is coupled to the handheld gimbal 200 via the mechanical connector 11 .

In some embodiments, the coupling portion of the handheld pan/tilt head 200 includes a shock absorbing module 24 , and the shock absorbing module 24 is arranged on the opposite side of the coupling portion from the second connector 21 .

In some embodiments, the support device of the handheld head 200 further includes one or more rotatable members configured to rotatably support the imaging device 202 . For example, such as a 3-axis gimbal device; removably or fixedly coupled to an imaging device 202 or other type of payload, such as audio equipment, sensors, etc.; including a first member that supports rotation about a yaw axis - the rotation Can be used for the handle (for adjusting the position of the handle so that the obstacle avoidance camera is always facing the direction of movement) and the main camera (rotation about the yaw axis); second member providing tilt movement; third member providing roll movement - longitudinal or landscape.

In some embodiments, the handheld pan/tilt head 200 further includes one or more processors configured to process image data captured by the imaging device 202 . For example, including one or more image processing chips for codecs, digital-to-analog converters, etc.

In some embodiments, the one or more processors are configured to convert digital image data to analog signals.

In some embodiments, the analog signal is via the electrical connectors 21 of the first connector 11 and the second connector 21, respectively, eg, comprising metal contacts. It is transmitted from the handheld gimbal 200 to the flying device 100 . For example, metal contacts and cables used to transmit signals between two modules.

In some embodiments, the flying device 100 further includes a plurality of antennas 301 , each antenna 301 being mounted along a corresponding arm 102 of the plurality of arms 102 of the flying device 100 , the plurality of antennas 301 is configured to transmit analog signals from the flying device 100 . The system is connected to an external device. For example, one or more RF antennas 301 (or other transmission devices such as WiFi) are included. For example, external devices include remote controls, mobile devices, etc.

In some embodiments, the flying device 100 further includes a controller configured to control the operation of the flying device 100 in accordance with control signals generated based on image data captured by the imaging device 202 . For example, a control signal generated by one or more chips on the handheld device and transmitted from the handheld object to the flying device 100; or a control signal generated by an external device (remote control) and received by the antenna 301 on the flying device 100 . For example, actions based on pre-programmed patterns such as object tracking, avoiding objects, hovering, etc.

In some embodiments, the flying device 100 further includes a plurality of fisheye lens cameras respectively disposed at the distal ends of the plurality of arms 102 .

In some embodiments, the flying device 100 further includes a visual positioning sensor 107 disposed on one of the plurality of arms 102 and positioned to capture ground information for use in propelling the flying device 100 simultaneous visual positioning.

In some embodiments, the handheld gimbal 200 further includes a cover configured to removably cover the handheld gimbal 200 when the handheld gimbal 200 is decoupled from the flying device 100 . The connecting portion, the cover includes a data transmitter configured to transmit image data. An external device acquired by the imaging device 202 .

In some embodiments, the handheld pan/tilt head 200 further includes a battery configured to supply power to the handheld pan/tilt head 200, the imaging device 202, and the support device.

In some embodiments, when the handheld gimbal 200 is coupled to the flying device 100, the battery is further configured to supply power to the handheld gimbal 200, the imaging device 202, the support device, and all The flying device 100 supplies power. For example, power is transmitted from the handheld device to the flying device 100 through the first and second connectors 21 ;

In some embodiments, the hand-held pan/tilt head 200 further includes an interactive component on the first side of the grip 202 of the hand-held pan/tilt head 200, and is configured to detect received on the interactive component User input. For example, touch screens or buttons and displays.

In some embodiments, the handheld gimbal 200 further includes an obstacle avoidance module 105 on a second side opposite the first side of the grip 202 and is configured to capture information to avoid obstacles .

In some embodiments, the flying device 100 is connected to the hand-held head 200 when propelled by the plurality of power systems 104 , and the support device is configured to support rotation of the grip portion 202 such that the system.

In some embodiments, the movable system further includes a landing gear 500 removably coupled to the first rotatable member of the support, eg, the yaw axis. For example, or a support device that may be fixedly attached to the handheld head 200 .

In some embodiments, the landing gear 500 is retractable during landing and activation of the movable system.

In some embodiments, the imaging device 202 is configured to operate in a first mode (eg, aerial photography) when the handheld gimbal 200 is connected to the flying device 100 , and to operate in a first mode (eg, aerial photography) when the handheld gimbal 200 is disconnected from the flying device 100 . When on, operates in the second mode (eg, handheld shooting scenes).

In some embodiments, when the flying device 100 is coupled to the handheld gimbal 200, the movable system is configured to be activated from a user's hand when held by the hand.

In some embodiments, when the flying device 100 is coupled to the handheld gimbal 200, the movable system is configured to capture a first set of images in a handheld shooting mode when held by a user's hand image, and after firing from the user's hand, a second set of images is captured continuously and subsequently in aerial photography mode.

Based on any of the above embodiments, please refer to FIGS. 1-12 , an embodiment of the present application provides a movable system, including: a flying device 100 , including a plurality of aircraft arms 102 , and the plurality of aircraft arms 102 are respectively connected to a plurality of power systems 104 configured to propel the flying device 100; and a hand-held head 200 including a connection provided on a first end of the hand-held head 200 to be movably coupled to the flying device 100, and A support device on a second end opposite the first end and configured to be coupled to the imaging device 202, wherein when the handheld gimbal 200 is coupled to the flying device 100, the coupling portion is configured to lock the multiple the position of each arm 102 .

Based on any of the above-mentioned embodiments, please refer to FIGS. 1-12 , an embodiment of the present application further provides a movable system, including: a flying device 100 including a plurality of power systems 104 for propelling the flying device 100; and a A handheld gimbal 200 movably connected to the flying device 100, the handheld gimbal 200 including a grip 202 and one or more interactive components configured to detect on the one or more interactive components received user input; and one or more processors coupled to the memory configured to store instructions for execution by the one or more processors to control operation of the flying device 100 or the gimbal 200 in accordance with the user input.

In some embodiments, the flying device 100 further includes a fuselage 101 including a plurality of rotors configured to be rotatably coupled to a plurality of power systems 104 via a plurality of arms 102, respectively, and a first A connector 11 configured to be removably coupled to the hand-held head 200 .

In some embodiments, the handheld pan/tilt head 200 further includes a coupling portion disposed on the first end of the hand-held pan/tilt head 200, the coupling portion comprising a second connector 21 configured to to be removably coupled to the first connector 11 of the flying device 100 .

In some embodiments, the hand-held head 200 further includes a support device on a second end opposite the first end of the hand-held head 200, the support device including one or more rotatable members, so The one or more rotatable members are configured to be rotatably coupled to the imaging device 202 .

In some embodiments, when the flying device 100 is coupled to the handheld gimbal 200, the plurality of arms 102 are configured to fold in a first direction away from the handheld gimbal 200 to provide useful A stand for supporting the movable system.

In some embodiments, when the flying device 100 is decoupled from the handheld gimbal 200, the plurality of arms 102 are configured to fold in a second direction opposite the first direction to form a dense alignment .

In some embodiments, the coupling portion of the handheld gimbal 200 further includes one or more first clamping portions 211 to be removably coupled to the plurality of arms of the flying device 100 , and wherein , when the handheld gimbal 200 is coupled to the flying device 100 , via the first connector 11 and the second connector 21 , one or more first holding parts 211 are configured to be respectively assembled between a plurality of rotors one or more spaces to lock the position of multiple arms.

In some embodiments, the handheld pan/tilt 200 further includes one or more processors configured to convert digital image data captured by the imaging device 202 into analog signals for use by the first The electrical connectors 21 of the object and the second object are transmitted from the handheld gimbal 200 to the flying device 100 . second connector.

In some embodiments, the flying device 100 further includes a plurality of antennas 301 , each antenna 301 mounted along a corresponding one of the plurality of arms 102 of the flying device 100 , the plurality of antennas 301 being is configured to transmit analog signals from the flying device 100 . The system is connected to an external device.

In some embodiments, the flying device 100 further includes a controller configured to control the operation of the flying device 100 in accordance with control signals generated based on digital image data captured by the imaging device 202 .

In some embodiments, the handheld gimbal 200 further includes a configuration configured to: supply power to the handheld gimbal 200, the support device and the imaging device 202 when the handheld device is decoupled from the flying device 100; and when the handheld gimbal 200 is coupled When arriving at the flying device 100 , power is supplied to the handheld gimbal 200 , the supporting device, the imaging device 202 and the flying device 100 .

In some embodiments, the handheld gimbal 200 further includes an obstacle avoidance module 105 on the grip 202, and is configured to capture information for obstacle avoidance, and wherein, when powered by the plurality of power When the system 104 is pushed, the flying device 100 is connected to the handheld gimbal 200 . The target support device is configured to support the rotation of the grip portion 201 so that the obstacle avoidance module 105 faces the moving direction of the movable system.

In some embodiments, a landing gear 500 is also included, the landing gear 500 being removably coupled to the first rotatable member (eg, the yaw axis) of the support, the landing gear 500 being in the rotatable position. It is retractable during take-off or start-up of the mobile system.

In some embodiments, when the flying device 100 is coupled to the handheld gimbal 200, the imaging device 202 is configured to capture a first hand-held shooting mode when held by one of the user's hands A set of images, and, in response to user input, are removed from the user's hand and a second set of images is captured in aerial mode.

Based on any of the above embodiments, please refer to FIGS. 1-12 , an embodiment of the present application further provides a movable system, including: a flying device 100, including a plurality of power systems 104 for propelling the flying device 100; and a handheld cloud A table 200 including a coupling portion detachably coupled to the flying device 100 and a grip portion 202 configured to be held by a user's hand. Wherein, when the handheld gimbal 200 is coupled to the flying device 100 , the movable system is configured to be able to hold the grip 202 while the user holds the grip 202 when held on the grip 202 . take off, or the grip 202 can be gripped by the user on the grip 202 during flight.

In some embodiments, the handheld pan/tilt 200 further includes one or more interactive components configured to detect user input received on the one or more interactive components.

In some embodiments, the joint is provided on the first end of the hand-held head 200 and includes a second connector 21 configured to be removably coupled to the flight The first connector 11 of the device 100, and wherein the hand-held head 200 further includes a support. An imaging device 202 on a second end opposite the first end of the handheld head 200, the support device including one or more rotatable members configured to be rotatably coupled to the imaging device 202. The one or more rotatable members include at least one of the following: a first shaft assembly M1, a second shaft assembly M2, and a third shaft assembly M3.

In some embodiments, the coupling portion of the handheld gimbal 200 further includes one or more first retaining portions 211 to be removably coupled to the plurality of rotors of the flying device 100 , and wherein , when the handheld gimbal 200 is coupled to the flying device 100 , via the first connector 11 and the second connector 21 , one or more first holding parts 211 are configured to be respectively assembled between a plurality of rotors one or more spaces to lock the position of multiple arms.

In some embodiments, the handheld gimbal 200 further includes an obstacle avoidance module 105 on the grip 202, and is configured to capture information for avoiding obstacles, and wherein, when the multiple When each power system 104 is propelled, the flying device 100 is connected to the handheld gimbal 200 . For the purposes of this application, the support means are configured to support the rotation of the grip 201 so that the obstacle avoidance module 105 faces the direction of movement of the movable system.

In some embodiments, when the flying device 100 is coupled to the handheld gimbal 200, the imaging device 202 is configured to capture a first hand-held shooting mode when held by one of the user's hands A second set of images is captured consecutively and then in aerial photography mode after being removed from one of the user's hands.

In several embodiments provided in this application, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, which may be electrical, mechanical or other forms.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features thereof can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present application. scope.

Claims

A flying device, characterized in that it includes:

body;

an aircraft arm, comprising a plurality of the aircraft arms, which are rotatably connected with the fuselage, so that the flying device has a retracted state and an unfolded state; in the retracted state, the plurality of the aircraft arms are away from the portion of the fuselage is substantially fitted; and,

a power system, arranged on the arm, for providing flying power for the flying device;

Wherein, the fuselage includes a connecting part, and the fuselage is used for detachably connecting with the handheld gimbal through the connecting part; the arm can be rotated toward the connecting part, so that the flying device can be in any position. in the folded state; in the folded state, the machine arm is basically arranged around the connecting portion.
The flying device according to claim 1, wherein in the deployed state, a plurality of the arms are evenly arranged around the fuselage of the flying device.
The flying device according to claim 1, wherein in the folded state, the plurality of the arms includes two sets of arms, and the two sets of arms are arranged side by side.
The flying device according to claim 3, wherein the power system comprises a propeller, and in the retracted state, the propellers are distributed on the outer side of the flying device.
The flying device according to claim 3, wherein the power system comprises a motor, and in the folded state, the motors in the arms arranged side by side are abutted with each other.
The flying device according to claim 1, wherein the power system includes a motor, and in the folded state, a plurality of the arms and the motor are arranged in layers in sequence.
The flying device according to claim 6, wherein the power system comprises a motor, and in the retracted state, the motors in the arms are substantially aligned.
The flying device according to claim 6, characterized in that, along the direction of the yaw axis of the flying device, the rotation axis of a part of the plurality of the arms is set at a higher position than the plurality of the arms The setting position of the rotation axis of another part of ;

And/or, along the pitch axis direction of the flying device, the setting position of the axis of rotation of a part of the multiple arms is close to the center of the fuselage, and the axis of the rotation axis of the other part of the multiple arms is located far away the center of the fuselage.
The flying device according to claim 1, further comprising: a blade protection cover, the blade protection cover is fixedly connected with the aircraft arm, and the blade protection cover is surrounded by the power system around.
The flying device according to claim 9, wherein each of the power systems is provided with a blade protection cover correspondingly.
The flying device of claim 1, wherein the power system includes a propeller.
The flying device according to claim 11, wherein the power system further comprises a motor, and the motor is used to drive the propeller to rotate.
The flying device according to claim 12, wherein the propeller comprises a blade, and a paddle seat or a paddle clip, and the motor is fixedly connected to the paddle seat or the paddle clip for driving the paddle seat Or the paddle clip rotates, thereby driving the paddle to rotate.
The flying device according to claim 13, wherein each propeller has at least two propellers, and the at least two propellers are pivotally connected to the propeller seat or propeller clip, respectively, so that the propeller blades Can be folded relative to the arm.
The flying device according to claim 1, characterized in that, comprising:

A locking device, the locking device is detachably connected or movably connected with the fuselage, and the locking device is used for locking the machine arm in the unfolded state.
The flying device according to claim 15, characterized in that, when the flying device is in the unfolded state, a receiving groove is formed between at least two adjacent arms, and the locking device is used to snap into the into the receiving slot to lock the flying device in the deployed state.
The flying device according to claim 16, wherein the locking device comprises a locking protrusion, and the locking protrusion is configured to be snapped into the accommodating groove.
The flying device of claim 15, wherein the locking device is detachably connected to the fuselage.
The flying device according to claim 18, wherein the connection method between the locking device and the fuselage comprises at least one of the following: screw connection, snap connection, and magnetic attraction.
The flying device according to claim 19, wherein the connection between the locking device and the fuselage comprises a snap connection;

One of the locking device and the body is provided with a first clamping portion, and the other of the locking device and the body is provided with a first matching portion that cooperates with the first clamping portion, so The first clamping portion can be engaged with the first matching portion, so as to connect the locking device with the body.
The flying device according to claim 20, wherein the first clamping portion is movably connected to one of the fuselage and the locking device.
The flying device according to claim 21, wherein the first clamping portion is provided on the locking protrusion;

And/or, the first clamping part is connected with a driving part, and the driving part is used for receiving an external driving force to drive the first clamping part to move.
The flying device according to claim 1, wherein the arm comprises a plurality of arm connecting parts and a rotating shaft, and the rotating shaft is configured to be rotatably connected with the arm connecting part.
The flying device according to claim 23, wherein the plurality of arm connecting parts are respectively rotatably connected to the plurality of the rotating shafts, so that the plurality of the rotating shafts are rotatably connected to the fuselage.
The flying device according to claim 23, wherein the arm further comprises an extension part, the extension part is connected with the rotating shaft, and in the folded state, a plurality of the extension parts are substantially fitted .
The flying device according to claim 23, wherein, along a direction perpendicular to the roll axis X and the pitch axis Y, the included angle between the axis of the rotating shaft and the roll axis ranges from 0° to 60° .
The flying device according to claim 26, wherein in a direction perpendicular to the plane formed by the roll axis X and the pitch axis Y, the included angle between the axis of the rotating shaft and the roll axis is 22.5°.
The flying device according to claim 23, wherein, along the direction perpendicular to the plane formed by the roll axis X and the pitch axis Z, the included angle between the axis of the rotating shaft and the roll axis X is in the range of 0°～90°.
The flying device according to claim 28, wherein in a direction perpendicular to the plane formed by the roll axis X and the yaw axis Z, the included angle range between the axis of the rotation shaft and the roll axis X is 48°.
The flying device according to claim 23, wherein in a direction perpendicular to the plane formed by the pitch axis Y and the yaw axis Z, the included angle between the axis of the rotating shaft and the pitch axis Y is 0 °～60°.
The flying device according to claim 30, wherein in a direction perpendicular to the plane formed by the pitch axis Y and the yaw axis Z, the included angle between the axis of the rotating shaft and the pitch axis Y is 22.5 °.
The flying device according to claim 1, wherein the fuselage can be mechanically and electrically connected to the handheld gimbal through the connecting portion, and when the fuselage is mechanically connected to the handheld gimbal and When electrically connected, the body can obtain electricity from the handheld pan/tilt to supply power to the power system.
The flying device according to claim 1, wherein in the retracted state, the power systems in each of the arms are close to each other.
The flying device of claim 33, wherein in the deployed state, a plurality of the arms are substantially orthogonal.
A flight kit, characterized in that it includes a flight device and a pan/tilt detachably connected to the flight device; the flight device includes:

body;

an aircraft arm, comprising a plurality of the aircraft arms, which are rotatably connected with the fuselage, so that the flying device has a retracted state and an unfolded state; in the retracted state, the plurality of the aircraft arms are away from the portion of the fuselage is substantially fitted; and,

a power system, arranged on the arm, for providing flying power for the flying device;

Wherein, the fuselage includes a connecting part, and the fuselage is used for detachably connecting with the handheld gimbal through the connecting part; the arm can be rotated toward the connecting part, so that the flying device can be in any position. in the folded state; in the folded state, the machine arm is basically arranged around the connecting portion.
The flying kit of claim 35, wherein in the deployed state, a plurality of the arms are evenly arranged around the fuselage of the flying device.
The flight kit according to claim 35, wherein in the folded state, the plurality of the arms comprises two sets of arms, and the two sets of arms are arranged side by side.
The flight kit according to claim 37, wherein the power system includes propellers, and in the stowed state, the propellers are distributed on the outer side of the flight device.
The flight kit according to claim 37, wherein the power system comprises a motor, and in the folded state, the motors in the arms arranged side by side are abutted with each other.
The flight kit according to claim 35, wherein the power system includes a motor, and in the folded state, a plurality of the arms and the motor are arranged in layers in sequence.
The flight kit according to claim 40, wherein, along the direction of the yaw axis of the flying device, the rotation axis of a part of the plurality of the arms is set higher than the position of the plurality of the arms The setting position of the rotation axis of another part of ;

And/or, along the pitch axis direction of the flying device, the setting position of the axis of rotation of a part of the multiple arms is close to the center of the fuselage, and the axis of the rotation axis of the other part of the multiple arms is located far away the center of the fuselage.
The flight kit according to claim 35, further comprising: a blade protection cover, the blade protection cover is fixedly connected with the arm, and the blade protection cover is surrounded by the power system around.
The flight kit according to claim 42, wherein each of the power systems is provided with a blade protection cover correspondingly.
36. The flight kit of claim 35, wherein the power system includes a propeller.
The flight kit according to claim 44, wherein the power system further comprises a motor for driving the propeller to rotate.
The flight kit according to claim 35, wherein the propeller comprises a blade, and a paddle seat or a paddle clip, and the motor is fixedly connected to the paddle seat or the paddle clip for driving the paddle seat Or the paddle clip rotates, thereby driving the paddle to rotate.
46. The flight kit of claim 46, wherein each propeller has at least two blades, the at least two blades being pivotally connected to the propeller seat or propeller clip, respectively, so that the propeller blades Can be folded relative to the arm.
The flight kit of claim 35, comprising:

A locking device, the locking device is detachably connected or movably connected with the fuselage, and the locking device is used for locking the machine arm in the unfolded state.
The flying kit according to claim 48, wherein, when the flying device is in the unfolded state, a receiving groove is formed between at least two adjacent arms, and the locking device is used to snap into the into the receiving slot to lock the flying device in the deployed state.
The flight kit according to claim 49, wherein the locking device comprises a locking protrusion, and the locking protrusion is used for being snapped into the receiving groove.
The flight kit of claim 48, wherein the locking device is detachably connected to the fuselage.
The flight kit according to claim 51, wherein the connection method between the locking device and the fuselage comprises at least one of the following: screw connection, snap connection, and magnetic attraction.
The flight kit according to claim 52, wherein the connection between the locking device and the fuselage comprises a snap connection;

One of the locking device and the body is provided with a first clamping portion, and the other of the locking device and the body is provided with a first matching portion that cooperates with the first clamping portion, so The first clamping portion can be engaged with the first matching portion, so as to connect the locking device with the body.
The flight kit according to claim 53, wherein the first clamping portion is movably connected to one of the fuselage and the locking device.
The flight kit according to claim 54, wherein the first clamping portion is provided on the locking protrusion;

and/or,

The first clamping part is connected with a driving part, and the driving part is used for receiving an external driving force to drive the first clamping part to move.
The flight kit according to claim 35, wherein the arm comprises a plurality of arm connecting parts and a rotating shaft, and the rotating shaft is used for rotatably connecting with the arm connecting part.
The flight kit according to claim 56, wherein the plurality of arm connecting parts are respectively rotatably connected to the plurality of the rotating shafts, so that the plurality of the rotating shafts are rotatably connected to the fuselage.
The flight kit according to claim 56, wherein the arm further comprises an extension part, the extension part is connected with the rotating shaft, and in the folded state, a plurality of the extension parts are substantially fitted .
The flight kit according to claim 56, characterized in that, along the direction perpendicular to the roll axis X and the pitch axis Y, the included angle between the axis of the rotating shaft and the roll axis ranges from 0° to 60° .
The flight kit according to claim 59, wherein, along a direction perpendicular to the plane formed by the roll axis X and the pitch axis Y, the included angle between the axis of the rotation shaft and the roll axis is 22.5°.
The flight kit according to claim 56, wherein, along the direction perpendicular to the plane formed by the roll axis X and the pitch axis Z, the included angle between the axis of the rotating shaft and the roll axis X is in the range of 0°～90°.
The flight kit according to claim 61, wherein, along the direction perpendicular to the plane formed by the roll axis X and the yaw axis Z, the included angle range between the axis of the rotating shaft and the roll axis X is 48°.
The flight kit according to claim 62, wherein in a direction perpendicular to the plane formed by the pitch axis Y and the yaw axis Z, the included angle between the axis of the rotating shaft and the pitch axis Y is 0 °～60°.
The flight kit according to claim 63, wherein, along a direction perpendicular to the plane formed by the pitch axis Y and the yaw axis Z, the included angle between the axis of the rotating shaft and the pitch axis Y is 22.5 °.
The flight kit according to claim 35, wherein the fuselage can be mechanically and electrically connected to the handheld gimbal through the connecting portion, and when the fuselage is mechanically connected to the handheld gimbal and When electrically connected, the body can obtain electricity from the handheld pan/tilt to supply power to the power system.
36. The flight kit of claim 35, wherein in the stowed state, the power systems in each of the arms are brought closer to each other.
66. The flight kit of claim 66, wherein, in the deployed state, a plurality of the arms are substantially orthogonal.
The flight kit according to claim 48, wherein the locking device is provided on the gimbal.
The flying kit of claim 68, wherein the flying device has a grip portion, and the grip portion is disposed away from the flying device.
A flying device, characterized in that it includes:

The fuselage can be detachably connected with a functional module;

a machine arm, which is rotatably connected with the fuselage, so that the machine arm has a folded state and an unfolded state;

The functional module can be connected or separated from the fuselage to be in a combined state or a separated state; when the functional module is connected with the fuselage in a combined state, the functional module can lock the machine arm in the desired state. the expanded state.
The flying device according to claim 70, wherein when the functional module is in a separated state from the fuselage, the functional module can be used as an independent functional component.
The flying device according to claim 70, wherein the fuselage has a first electrical connection portion, the functional module has a second electrical connection portion, and the functional module and the fuselage pass through the first electrical connection portion. An electrical connection portion and the second electrical connection portion can be butted to establish electrical connection.
72. The flying device of claim 72, wherein one of the first electrical connection and the second electrical connection includes an interface contact, the first electrical connection and the second electrical connection The other one of the electrical connections includes an interface thimble;

When the first connection part is connected with the second connection part, the interface contact contacts with the interface ejector pin so as to establish an electrical connection between the flying device and the functional module.
The flying device according to claim 70, wherein the functional module has a first fixing portion, and when the flying device is in the unfolded state, a first fit is formed between at least two adjacent arms part; in the combined state, the first fixing part can cooperate with the first matching part to fix the at least two adjacent arms.
The flying device according to claim 70, wherein when the flying device is in the deployed state, a receiving groove is formed between at least two adjacent arms, and the receiving groove forms the first matching There is a locking protrusion on the functional module, and the locking protrusion forms the first fixing part; in the combined state, the locking protrusion of the functional module can be snapped into the accommodating part into the slot to lock the flying device in the deployed state.
75. The flying device of claim 75, wherein the arm has a first contact surface for contacting the locking projection, the first contact surface and the locking protrusion in the deployed state Raised to the top.
The flying device according to claim 76, wherein the functional module has a body, the locking protrusion is provided on the body, and the arm has a second contact surface for contacting with the body , in the unfolded state, the second contact surface abuts the body.
The flying device according to claim 70, wherein the connection method between the functional module and the fuselage includes at least one of the following: screw connection, snap connection, and magnetic attraction.
The flying device according to claim 78, wherein the connection between the functional module and the fuselage comprises a snap connection;

One of the functional module and the fuselage has a first clamping part, and the other of the functional module and the fuselage has a first matching part that cooperates with the first clamping part, so the The first clamping portion can be engaged with the first matching portion to connect the functional module with the body.
The flying device according to claim 79, wherein the first retaining portion is movably connected to one of the fuselage and the functional module, and the first retaining portion can be in a locked position and movement between separation positions;

In the locking position, the first clamping portion is engaged with the first matching portion, and the flying device and the functional module are in the combined state;

In the separation position, when the first clamping portion is separated from the first matching portion, the flying device and the functional module are in a separated state.
The flying device according to claim 80, wherein the first clamping part is connected with a driving part, and the driving part is used for receiving an external driving force to drive the first clamping part to move.
The flying device according to claim 70, wherein the functional module has a holding portion, and the holding portion is disposed away from the flying device.
82. The flying device of claim 82, wherein the grip portion is detachably connected to the flying device.
The flying device according to claim 70, wherein the functional module comprises a handheld gimbal.
The flying device according to claim 70, wherein when the functional module and the fuselage are connected in a combined state, the flying device can obtain the power of the functional module to obtain the functional energy module of power supply.
The flying device according to claim 70, wherein when the fuselage is connected to the functional module, the functional module is disposed protruding from the fuselage.
The flight device according to claim 70, further comprising a flight control module, wherein the flight control module is configured to receive flight control information to control the power system.
A handheld cloud platform, characterized in that, the handheld cloud platform is used for detachable connection with the flying device; wherein, the flying device comprises:

body;

an arm, which is rotatably connected to the fuselage, so that the arm has a retracted state and an unfolded state; the hand-held pan/tilt can be connected or separated from the fuselage to be in a combined state or a separated state;

When the hand-held pan-tilt and the fuselage are connected in a combined state, the hand-held pan-tilt can lock the machine arm in the unfolded state.
The hand-held pan/tilt according to claim 88, wherein when the hand-held pan/tilt is separated from the body, the hand-held pan/tilt can be used alone.
The handheld pan/tilt according to claim 88, wherein the body has a first electrical connection part, the handheld pan/tilt has a second electrical connection part, and the handheld pan/tilt passes through the body. The first electrical connection portion and the second electrical connection portion can be docked to establish electrical connection.
The hand-held platform according to claim 90, wherein one of the first electrical connection part and the second electrical connection part comprises an interface contact, and the first electrical connection part and the first electrical connection part comprise an interface contact. The other one of the two electrical connections includes an interface thimble;

When the first connection part is connected with the second connection part, the interface contact contacts with the interface ejector pin so as to establish an electrical connection between the flying device and the handheld gimbal.
The hand-held gimbal according to claim 91, wherein a first fixing part is provided on the hand-held gimbal, and when the flying device is in the unfolded state, a first fixing part is formed between at least two adjacent arms. a matching part; in the combined state, the first fixing part can cooperate with the first matching part to fix the at least two adjacent arms.
The handheld gimbal according to claim 91, wherein when the flying device is in the unfolded state, a receiving groove is formed between at least two adjacent arms; the receiving groove forms the first a matching part; a locking protrusion is provided on the handheld pan/tilt, and the locking protrusion forms the first fixing part; in the combined state, the locking protrusion of the handheld pan/tilt can be snapped into into the accommodating groove to lock the flying device in the deployed state.
The hand-held pan/tilt head according to claim 93, wherein the arm has a first contact surface for contacting with the locking protrusion, and the first contact surface is in contact with the lock in the unfolded state Tightly bulge against the top.
The hand-held pan/tilt head according to claim 94, wherein the hand-held pan/tilt head has a main body, the locking protrusion is provided on the main body, and the arm has a second arm for contacting with the main body. The contact surface, in the unfolded state, the second contact surface abuts the body.
The handheld gimbal according to claim 88, wherein the connection between the handheld gimbal and the fuselage includes at least one of the following: screw connection, snap connection, and magnetic attraction.
The hand-held pan-tilt according to claim 96, wherein the connection between the hand-held pan-tilt and the fuselage comprises a snap connection;

One of the functional module and the fuselage has a first clamping part, and the other of the functional module and the fuselage has a first matching part that cooperates with the first clamping part, so the The first clamping portion can be engaged with the first matching portion to connect the functional module with the body.
The handheld pan/tilt according to claim 97, wherein the first holding part is movably connected to one of the body and the functional module, and the first holding part can be in a locked position and the separation position;

In the locking position, the first clamping portion is engaged with the first matching portion, and the flying device and the functional module are in the combined state;

In the separation position, when the first clamping portion is separated from the first matching portion, the flying device and the functional module are in a separated state.
The hand-held platform according to claim 98, wherein the first clamping part is connected with a driving part, and the driving part is used for receiving an external driving force to drive the first clamping part to move.
The handheld gimbal according to claim 88, wherein the functional module has a grip portion, and the grip portion is disposed away from the flying device.
The handheld gimbal according to claim 88, wherein the handheld gimbal comprises at least one of the following: a power supply module, a camera module, an image transmission module, and a shock absorption module.
The handheld gimbal according to claim 101, wherein when in the combined state, the damping module is disposed close to the flying device.
The handheld gimbal according to claim 101, wherein when in the combined state, the camera module is disposed away from the flying device.
The handheld gimbal according to claim 101, wherein when in the combined state, the handheld gimbal is used to supply power to the flying device.
The handheld gimbal according to claim 101, wherein when in the combined state, the image transmission module is used to transmit image transmission information to the flying device.
The hand-held PTZ according to claim 101, wherein,

In the combined state, the handheld gimbal supplies power to the flying device and the camera modules of the handheld gimbal respectively;

Alternatively, in the combined state, the power supply module sequentially supplies power to the camera module of the handheld gimbal and the flying device.
The handheld pan/tilt according to claim 101, wherein in the separated state, the power supply module can supply power to the handheld pan/tilt.
The handheld gimbal according to claim 88, wherein the handheld gimbal and the fuselage can be detachably connected.
The handheld gimbal according to claim 88, wherein in the combined state, the handheld gimbal is protruded from the flying device and constitutes an unmanned aerial vehicle.
The handheld gimbal according to claim 88, wherein one end of the handheld gimbal is connected to the flying device.
A flight kit, characterized in that, comprising:

a flying device, the flying device includes a fuselage and an arm, the arm is rotatably connected to the fuselage, so that the arm has a retracted state and an unfolded state; and,

a hand-held gimbal, which can be connected or separated from the fuselage, so as to enable the flying device and the hand-held gimbal to be in a combined state or a separate state;

When the hand-held pan-tilt and the fuselage are connected in a combined state, the hand-held pan-tilt can lock the machine arm in the unfolded state.
The flight kit according to claim 111, wherein when the handheld gimbal is separated from the fuselage, the handheld gimbal can be used alone.
The flight kit according to claim 111, wherein the fuselage has a first electrical connection portion, the handheld gimbal has a second electrical connection portion, and the handheld gimbal and the fuselage pass through all the The first electrical connection portion and the second electrical connection portion can be butted to establish electrical connection.
113. The flight kit of claim 113, wherein one of the first electrical connection and the second electrical connection includes an interface contact, the first electrical connection and the second electrical connection The other one of the electrical connections includes an interface thimble;

When the first connection part is connected with the second connection part, the interface contact contacts with the interface ejector pin so as to establish an electrical connection between the flying device and the handheld gimbal.
The flight kit according to claim 114, wherein the handheld gimbal has a first fixing portion, and when the flight device is in the unfolded state, a first fixing portion is formed between at least two adjacent arms. A matching portion; in the combined state, the first fixing portion can be matched with the first matching portion to fix the at least two adjacent arms.
The flying kit according to claim 115, wherein when the flying device is in the deployed state, a receiving groove is formed between at least two adjacent arms; the receiving groove forms the first fitting There is a locking protrusion on the handheld pan/tilt, and the locking protrusion forms the first fixing part; in the combined state, the locking protrusion of the handheld pan/tilt can be snapped into place into the accommodating groove to lock the flying device in the deployed state.
116. The flight kit of claim 116, wherein the arm has a first contact surface for contacting the locking projection, the first contact surface and the locking protrusion in the deployed state Raised to the top.
The flight kit according to claim 117, wherein the handheld gimbal has a body, the locking protrusion is provided on the body, and the arm has a second contact for contacting with the body In the unfolded state, the second contact surface abuts the body.
The flight kit according to claim 111, wherein the connection between the handheld gimbal and the fuselage comprises at least one of the following: screw connection, snap connection, and magnetic attraction.
The flight kit according to claim 119, wherein the connection between the handheld gimbal and the fuselage comprises a snap connection;

One of the handheld pan-tilt and the body is provided with a first clamping portion, and the other of the handheld pan-tilt and the body is provided with a first matching portion matched with the first clamping portion , the first clamping part can be engaged with the first matching part, so as to connect the handheld pan/tilt with the body.
The flight kit according to claim 120, wherein the first clamping part is movably connected to one of the body and the handheld gimbal, and the first clamping part can be in a locked position and the separation position;

In the locking position, the first clamping portion is engaged with the first matching portion, and the flying device and the handheld gimbal are in the combined state;

In the separation position, the first clamping part is separated from the first matching part, and the flying device and the handheld gimbal are in a separated state.
The flight kit according to claim 121, wherein the first clamping part is connected with a driving part, and the driving part is used for receiving an external driving force to drive the first clamping part to move.
The flying kit according to claim 111, wherein the functional module has a holding portion, and the holding portion is disposed away from the flying device.
The flight kit according to claim 111, wherein the handheld gimbal comprises at least one of the following: a power supply module, a camera module, an image transmission module, and a shock absorption module.
The flight kit according to claim 124, wherein when in the combined state, the shock absorbing module is disposed close to the flight device.
The flight kit of claim 124, wherein when in the combined state, the camera module is disposed away from the flight device.
The flight kit according to claim 124, wherein when in the combined state, the handheld gimbal is used to power the flight device.
The flight kit according to claim 124, wherein when in the combined state, the image transmission module is used to transmit image transmission information to the flight device.
The flight kit of claim 124, wherein:

In the combined state, the handheld gimbal supplies power to the flying device and the camera modules of the handheld gimbal respectively;

Alternatively, in the combined state, the power supply module sequentially supplies power to the camera module of the handheld gimbal and the flying device.
The flight kit according to claim 124, wherein in the separated state, the power supply module is capable of supplying power to the handheld gimbal.
The flight kit according to claim 111, wherein the handheld gimbal is detachably connected to the fuselage.
The flying kit according to claim 111, wherein in the combined state, the handheld gimbal is protruded from the flying device and constitutes an unmanned aerial vehicle.
The flying kit according to claim 111, wherein one end of the handheld gimbal is connected to the flying device.
The flight kit according to claim 111, further comprising a flight control module, wherein the flight control module is configured to receive flight control information to control the power system.
A flight kit, characterized in that, comprising:

flying device;

a hand-held gimbal, which is used to be detachably connected to the flying device, so that the flying device and the hand-held gimbal can be in a combined state and a separate state;

The working modes of the flight kit include flight mode and hand-held mode;

The handheld cloud platform has at least one operation module, and in the combined state, at least one of the operation modules is used to acquire the user's operation, and determine the working mode of the flight kit according to the user's operation.
135. The flight kit of claim 135, wherein in the flight mode, at least one of the operating modules functions differently than in the handheld mode.
The flight kit of claim 136, wherein the handheld gimbal is capable of establishing an electrical connection with the flight device so that the flight kit is in the flight mode;

And/or, the handheld gimbal can be electrically disconnected from the flying device to be in the handheld mode.
The flying kit according to claim 137, wherein the flying device has a first electrical connection part, the handheld gimbal has a second electrical connection part, and the first electrical connection part is connected to the second electrical connection part. The connection part can be docked to establish an electrical connection between the flying device and the handheld gimbal.
The flight kit according to claim 138, further comprising a detection module, the detection module is electrically connected to the second electrical connection part and the operation module, respectively, and the detection module is used to detect the first electrical connection. The electrical connection state of the two electrical connection parts is used to determine the working mode of the flight kit.
The flight kit according to claim 136, wherein the operation module comprises at least one of the following: a button, a display screen, a knob, and a joystick.
The flight kit according to claim 136, further comprising a control module, the control module is connected in communication with the operation module; in the flight mode, when the operation module is triggered by different triggering methods, all the The control module controls the flight kit to operate in different ways.
The flight kit according to claim 141, wherein in the flight mode, when the operation module is triggered by a first triggering manner, the control module controls the flight kit to take off.
The flight kit according to claim 141, wherein, in the flight mode, when the operation module is triggered by a second trigger mode, the control module controls the handheld gimbal to shoot or controls the handheld gimbal The gimbal of the gimbal rotates.
The flight kit according to claim 141, wherein in the handheld mode, when the operation module is triggered by a third trigger mode, the control module controls the handheld gimbal to shoot or controls the handheld gimbal The gimbal of the gimbal rotates.
The flight kit of claim 137, wherein the handheld gimbal has a power supply module;

In the flight mode, the power supply module supplies power to the flight device and the camera modules of the handheld gimbal respectively;

Or, in the flight mode, the power supply module sequentially supplies power to the camera module of the handheld gimbal and the flight device.
The flight kit of claim 137, wherein in the handheld mode, the power supply module is capable of powering the handheld gimbal.
A flying device is characterized in that it is used for detachable connection with a handheld cloud platform; the working modes of the flying device and the handheld cloud platform include a flight mode and a handheld mode;

The handheld gimbal has at least one operation module, and when the flight device and the handheld gimbal are in a combined state, at least one of the operation modules is used to obtain the user's operation, and determine the user's operation according to the user's operation. The working mode of the flight kit.
147. The flying device of claim 147, wherein in the flight mode, at least one of the operating modules has a different function than the operating module in the handheld mode.
The flying device of claim 148, wherein the handheld gimbal is capable of establishing an electrical connection with the flying device to be in the flying mode;

And/or, the handheld gimbal can be electrically disconnected from the flying device to be in the handheld mode.
The flying device of claim 149, wherein the flying device has a first electrical connection part, the handheld gimbal has a second electrical connection part, and the first electrical connection part is connected to the second electrical connection part. The connection part can be docked to establish an electrical connection between the flying device and the handheld gimbal.
The flight kit according to claim 150, further comprising a detection module, the detection module is electrically connected to the second electrical connection part and the operation module respectively, and the detection module is used to detect the first electrical connection. The electrical connection state of the two electrical connection parts is used to determine the working mode of the flight kit.
The flying device according to claim 148, wherein the operation module comprises at least one of the following: a button, a display screen, a knob, and a joystick.
The flying device according to claim 148, further comprising a control module, the control module is connected in communication with the operation module; in the flight mode, when the operation module is triggered by different triggering methods, all the The control module controls the flight kit to operate in different ways.
The flying device according to claim 153, wherein in the flight mode, when the operation module is triggered by a first triggering manner, the control module controls the flight kit to take off.
The flying device according to claim 153, wherein, in the flying mode, when the operation module is triggered by a second trigger mode, the control module controls the handheld gimbal to shoot or controls the handheld gimbal to shoot. The gimbal of the gimbal rotates.
The flying device according to claim 153, wherein in the handheld mode, when the operation module is triggered by a third trigger mode, the control module controls the handheld gimbal to shoot or controls the handheld gimbal The gimbal of the gimbal rotates.
The flying device according to claim 149, wherein the handheld gimbal has a power supply module;

In the flight mode, the power supply module supplies power to the flight device and the camera modules of the handheld gimbal respectively;

Or, in the flight mode, the power supply module sequentially supplies power to the camera module of the handheld gimbal and the flight device.
The flying device of claim 149, wherein in the handheld mode, the power supply module is capable of supplying power to the handheld gimbal.
A hand-held pan/tilt, characterized in that the hand-held pan/tilt is used for connecting with the flying device to form a flight kit, and the working modes between the flight device and the hand-held pan/tilt include a flight mode and a hand-held mode;

The handheld gimbal has at least one operation module, and when the flying device and the handheld gimbal are in a combined state, at least one of the operation modules is used to obtain the user's operation, and determine the flight kit according to the user's operation working mode.
The hand-held platform according to claim 159, wherein,

The function of the operation module in the airplane mode is different from the function of the operation module in the hand-held mode.
The handheld gimbal of claim 159, wherein the handheld gimbal is capable of establishing an electrical connection with the flying device to be in the flying mode;

And/or, the handheld gimbal can be electrically disconnected from the flying device to be in the handheld mode.
The handheld gimbal according to claim 161, wherein the flying device has a first electrical connection part, the handheld gimbal has a second electrical connection part, and the first electrical connection part is connected to the second electrical connection part. The electrical connection part can be docked to establish an electrical connection between the flying device and the handheld gimbal.
The handheld platform according to claim 162, further comprising a detection module, the detection module is electrically connected to the second electrical connection part and the operation module respectively, and the detection module is used to detect the The electrical connection state of the second electrical connection part is used to determine the working mode of the flight kit.
The handheld PTZ according to claim 159, wherein the operation module comprises at least one of the following: a button, a display screen, a knob, and a joystick.
The handheld pan/tilt according to claim 159, further comprising a control module, the control module is connected in communication with the operation module; in the flight mode, when the operation module is triggered by different triggering methods, The control module controls the flight kit to operate in different ways.
The handheld gimbal according to claim 165, wherein in the flight mode, when the operation module is triggered by a first trigger mode, the control module controls the flight kit to take off.
The handheld gimbal according to claim 165, wherein in the flight mode, when the operation module is triggered by a second triggering method, the control module controls the handheld gimbal to shoot or controls the The gimbal of the hand-held gimbal rotates.
The handheld gimbal according to claim 165, wherein, in the handheld mode, when the operation module is triggered by a third trigger mode, the control module controls the handheld gimbal to shoot or controls the The gimbal of the hand-held gimbal rotates.
The hand-held pan-tilt according to claim 161, wherein the hand-held pan-tilt has an energy supply module;

In the flight mode, the power supply module supplies power to the flight device and the camera modules of the handheld gimbal respectively;

Or, in the flight mode, the power supply module sequentially supplies power to the camera module of the handheld gimbal and the flight device.
The unmanned aerial vehicle of claim 161, wherein in the handheld mode, the power supply module is capable of supplying power to the handheld gimbal.
A flight kit, characterized in that, comprising:

flying device;

a hand-held gimbal, which is used for detachable connection with the flying device, so that the flying kit has a combined state and a separated state;

In the combined state, the handheld gimbal is protruded from the flying device, one end of the handheld gimbal is connected to the flying device, and the grip portion of the handheld gimbal is protruded from the flying device Setting; in the separated state, the handheld pan/tilt can be used alone.
The flying kit according to claim 171, wherein the flying device has a first connection part and a first electrical connection part, the hand-held gimbal has a second connection part and a second electrical connection part, in the In the combined state, the first connecting portion and the second connecting portion are detachably connected, and the first electrical connecting portion and the second electrical connecting portion are butted to establish an electrical connection.
The flight kit according to claim 172, wherein in the combined state, the flight device and the handheld gimbal establish a power supply connection with the second electrical connection part through the first electrical connection part ;

And/or, in the combined state, the flight device and the handheld gimbal establish a communication connection with the second electrical connection portion through the first electrical connection portion.
The flight kit according to claim 171, wherein the handheld gimbal is provided with a power supply module, and in the combined state, the handheld gimbal supplies power to the flying device through the power supply module to Enter airplane mode.
The flight kit according to claim 174, wherein in the flight mode, the power supply module supplies power to the camera module of the handheld gimbal and the flight device respectively; or, in the flight mode, the power supply module The power supply module sequentially supplies power to the camera module of the handheld gimbal and the flying device.
The flight kit according to claim 174, wherein a receiving cavity for accommodating the power supply module is provided in the grip portion, and the power supply module is detachably received in the receiving cavity.
The flight kit of claim 171, wherein one of the first electrical connection and the second electrical connection includes an interface contact, the first electrical connection and the second electrical connection The other one of the electrical connections includes an interface thimble;

When the first connection part is connected with the second connection part, the interface contact contacts with the interface ejector pin so as to establish an electrical connection between the flying device and the handheld gimbal.
The flight kit according to claim 171, further comprising an image transmission module, the handheld gimbal includes a camera module, and the image transmission module is configured to communicate with the camera module.
The flight kit according to claim 178, wherein, in the combined state, the image transmission module can be connected in communication with the camera module of the handheld gimbal and the control terminal.
The flight kit of claim 178, wherein the image transmission module comprises a wireless communication unit and a processing unit.
The flight kit according to claim 180, wherein the wireless communication unit is arranged on the flying device, the processing unit is arranged on the handheld gimbal, the wireless communication unit and the processing unit Communication is achieved through the electrical connection established between the flying device and the handheld gimbal in the combined state.
The flight kit according to claim 180, wherein the wireless communication unit and the processing unit are provided on the flight device.
The flight kit according to claim 180, wherein the wireless communication unit and the processing unit are provided on the handheld gimbal.
The flight kit according to claim 180, wherein the flight device comprises a fuselage and an arm, and when the flight kit is in a flying state, a plurality of the arms are arranged around the fuselage.
184. The flight kit of claim 184, wherein the wireless communication unit comprises a radio frequency antenna, the radio frequency antenna being disposed at least in part on an arm of the flight device.
The flight kit according to claim 185, wherein the radio frequency antenna is provided on each arm of the flight device.
The flight kit of claim 185 or 186, wherein the radio frequency antenna extends along the length of the arm.
The flight kit according to claim 171, wherein the flight device comprises a flight control module and a power system, the flight control module is used to communicate with the power system, and the flight control module is used to control all power output of the power system.
The flight kit of claim 188, wherein the power system comprises:

propeller;

a motor, the output shaft of the motor is fixedly connected with the propeller, so as to drive the propeller to rotate;

Electronic governor, the flight control module is used to communicate with the electronic governor, and the electronic governor is electrically connected to the motor, and the electronic governor is used to communicate with the electronic governor according to the flight control module. A control signal is sent to control the rotational speed and/or steering of the motor.
The flight kit according to claim 188, further comprising an obstacle avoidance module, wherein the obstacle avoidance module is at least used to detect obstacle information in the flight direction.
The flight kit according to claim 190, wherein the obstacle avoidance module and the flight control module are respectively connected in communication with a control terminal, and the obstacle avoidance module is configured to send the obstacle information to the control terminal terminal, so that the control terminal determines flight control information according to the obstacle information, and sends the determined flight control information to the flight control module.
The flight kit according to claim 190, wherein the obstacle avoidance module is provided on the flight device and/or the handheld gimbal.
The flight kit according to claim 192, wherein the obstacle avoidance module is provided on the handheld gimbal.
The flight kit according to claim 193, wherein the obstacle avoidance module is fixed on the grip portion, and the obstacle avoidance module always faces the flight direction of the flying device; or,

The obstacle avoidance module is movably arranged on the grip portion, and the obstacle avoidance module always faces the flight direction of the flying device.
The flight kit of claim 193, wherein the obstacle avoidance module comprises one or more.
The flight kit according to claim 192, wherein the obstacle avoidance module is provided at the end of the arm of the flight device.
The flight kit according to claim 196, wherein an obstacle avoidance module is provided at the end of each of the arms, and the signal sending and receiving directions of the obstacle avoidance modules on each arm are staggered up and down, so that a plurality of The obstacle avoidance module forms a 360° omnidirectional obstacle avoidance.
The flight kit according to claim 171, wherein a display module is provided on the grip portion, and the display module is communicatively connected with a camera module of the handheld gimbal.
The flight kit according to claim 171, further comprising a positioning module, wherein the positioning module is used to determine the relative position of the flying device with respect to the ground, thereby determining the flight trajectory of the flying device.
The flight kit according to claim 199, wherein the positioning module is connected in communication with a control terminal, so as to send the flight trajectory information to the control terminal.
The flying kit according to claim 199, wherein the positioning module is provided on an arm of the flying device.
The flight kit according to claim 171, wherein the holding portion is rotatably connected to the camera module of the handheld gimbal through a first shaft assembly, a second shaft assembly and a third shaft assembly.
The flight kit according to claim 202, wherein the first shaft assembly comprises a first rotating shaft and a first connecting arm, and one end of the first connecting arm and the holding portion pass through the first rotating shaft pivotally connected, the first axis of rotation is parallel to the yaw axis of the flight kit;

The second shaft assembly includes a second rotating shaft and a second connecting arm, the other end of the first connecting arm is fixedly connected to one end of the second connecting arm, and the other end of the second connecting arm is connected to the first connecting arm. The two rotating shafts are pivotally connected, and the second rotating shaft is parallel to the pitch axis of the UAV;

The third shaft assembly includes a third rotating shaft and a third connecting arm, one end of the third connecting arm is pivotally connected to the second rotating shaft, and the other end of the third connecting arm and the camera module pass through the The third rotating shaft is pivotally connected, and the third rotating shaft is parallel to the roll axis of the flying kit.
The flight kit of claim 171, wherein the hand-held head is provided with a landing gear.
The flight kit of claim 204, wherein the landing gear is connected to the grip portion of the hand-held gimbal.
The flight kit of claim 205, wherein the landing gear is detachably connected to the grip portion of the hand-held head.
The flight kit of claim 205, wherein:

The camera module of the hand-held pan/tilt head is rotatably connected to the holding portion through a first shaft assembly, and the landing gear is connected to the first shaft assembly, so that the landing gear can rotate following the first shaft assembly .
133. The flight kit of claim 133, wherein the landing gear is removably connected to the first axle assembly.
The flight kit according to claim 205, wherein the landing gear includes a retracted state and a lowered state; in the retracted state, the landing gear at least avoids shooting by the camera module of the handheld gimbal Viewing angle; in the lowered state, the landing gear is lower than the camera module.
209. The flight kit of claim 209, wherein the landing gear is movable relative to the handheld gimbal to switch between the retracted state and the lowered state.
The flight kit according to claim 210, wherein the landing gear is rotatably connected to the handheld gimbal;

And/or, the landing gear is slidably connected to the handheld gimbal, and the sliding direction of the landing gear is consistent with the length direction of the handheld gimbal;

And/or, the landing gear includes at least two mutually hinged support rods;

And/or, the landing gear includes at least two support rods slidably connected to each other.
The flight kit of claim 210, further comprising a landing gear drive module for driving the landing gear to move to switch between the retracted state and the lowered state.
The flight kit of claim 212, further comprising:

an operating state monitoring device, electrically connected with the landing gear drive module, the operating state monitoring device is used to monitor the operating state information of the flight kit, and send the operating state information to the landing gear drive module, so as to The landing gear driving module drives the landing gear to move according to the operating state information.
The flight kit according to claim 139, wherein the landing gear driving module is further connected in communication with a control terminal, and the landing gear driving module is configured to control and drive the landing gear according to a control command sent by the control terminal drop motion.
The flight kit according to claim 209, wherein the retracting direction of the landing gear is a direction away from the camera module of the handheld gimbal.
The flying kit of claim 171, wherein the flying device has a fuselage and a plurality of arms, and a plurality of the arms are rotatably connected to the fuselage, so that the flying device has Collapsed and expanded states.
The flight kit of claim 216, wherein in the folded state, a plurality of the arms are substantially parallel;

and/or, in the unfolded state, a plurality of the arms are evenly arranged around the fuselage of the flying device;

And/or, the folding direction of the arm is toward the side of the flying device for installing the hand-held head;

And/or, the folding direction of the arm is away from the side of the flying device for installing the hand-held gimbal.
The flying kit according to claim 216, wherein the flying device has a first connecting part, the handheld gimbal has a second connecting part, and the first connecting part and the second connecting part can be connected , to lock the flying device in the deployed state.
The flying kit according to claim 171, wherein the flying device comprises a fuselage, an arm and a power system, the power system is used to power the flying device system, and the arm is far away from the One end of the fuselage has a paddle, and a paddle seat or a paddle clip, the power system includes a motor, and the motor is fixedly connected with the paddle seat or the paddle clip, so as to drive the paddle seat or the paddle clip to rotate, Then the paddles are driven to rotate.
219. The flight kit of claim 219, wherein each arm has at least two paddles, the at least two paddles being pivotally connected to the paddle seat or paddle clip, respectively, to allow the paddles The leaves can be folded relative to the arms.
The flying kit according to claim 218, wherein when the flying device is in the unfolded state, a accommodating groove is formed between at least two adjacent arms, and a locking mechanism is provided on the handheld gimbal When the first connecting part is connected with the second connecting part, the locking protrusion is snapped into the accommodating groove to lock the flying device in the unfolded state.
The flight kit of claim 221, wherein the locking protrusion is formed on the second connecting portion.
The flight kit according to claim 218, wherein the connection manner of the first connection part and the second connection part comprises at least one of the following: screw connection, snap connection, and magnetic attraction.
The flight kit according to claim 223, wherein the connection mode of the first connection part and the second connection part comprises a snap connection;

One of the first connection part and the second connection part has a first clamping part, and the other of the first connection part and the second connection part has a clamping part matched with the first clamping part. A first matching part, the first clamping part can be engaged with the first matching part, so that the first connecting part is connected with the second connecting part.
The flight kit according to claim 224, wherein the first retaining portion is movably connected to one of the first connecting portion and the second connecting portion, and the first retaining portion is capable of move between a locked position and a disengaged position;

In the locking position, the first clamping portion is engaged with the first matching portion, and the flying device and the handheld gimbal are in a combined state;

In the separation position, the first clamping portion is separated from the first matching portion, and the flying device and the handheld gimbal are in a separated state.
The flight kit according to claim 225, wherein the first clamping part is connected with a driving part, and the driving part is used for receiving an external driving force to drive the first clamping part to move.
The flight kit according to claim 171, wherein a shock absorbing module is provided on a side of the handheld gimbal close to the second connecting portion.
The flight kit according to claim 227, wherein the second connecting portion is disposed at one end of the holding portion, and the shock absorbing module is disposed between the holding portion and the second connecting portion between.
The flight kit according to claim 227, wherein the damping module is disposed between the second connecting portion and the fuselage.
The unmanned aerial vehicle according to claim 172, wherein the handheld gimbal further has a third connection part and a third electrical connection part, the third connection part is used for detachable connection with an external communication device, The third electrical connection part is used for establishing electrical connection with an external communication device so as to at least transmit data.
A flying device for cooperating with a hand-held PTZ, characterized in that it includes:

The fuselage is used for detachable connection with the handheld gimbal, and the flying device can be connected or separated from the handheld gimbal so as to be in a combined state or a separated state;

In the combined state, the hand-held pan/tilt is protruded from the flying device and constitutes an unmanned aerial vehicle, one end of the hand-held pan/tilt is connected to the flying device, and the holding part of the hand-held pan/tilt is protruded. It is set in the flying device; in the separated state, the handheld gimbal can be used alone.
The flying device according to claim 231, wherein the flying device has a first connecting part and a first electrical connecting part, and the hand-held gimbal has a second connecting part and a second electrical connecting part, in the In the combined state, the first connecting portion and the second connecting portion are detachably connected, and the first electrical connecting portion and the second electrical connecting portion are butted to establish an electrical connection.
The flying device according to claim 232, wherein in the combined state, the flying device and the handheld gimbal establish a power supply connection with the second electrical connecting part through the first electrical connecting part ;

And/or, in the combined state, the flight device and the handheld gimbal establish a communication connection with the second electrical connection portion through the first electrical connection portion.
The flying device according to claim 231, wherein the handheld gimbal is provided with a power supply module, and in the combined state, the handheld gimbal supplies power to the flying device through the power supply module to supply power to the flying device. Enter airplane mode.
The flying device according to claim 234, wherein, in the flying mode, the power supply module supplies power to the camera module of the handheld gimbal and the flying device respectively; or, in the flying mode, the power supply module The power supply module sequentially supplies power to the camera module of the handheld gimbal and the flying device.
The flying device according to claim 234, wherein a receiving cavity for accommodating the energy supply module is provided in the grip portion, and the energy supply module is detachably accommodated in the receiving cavity.
231. The flying device of claim 231, wherein one of the first electrical connection and the second electrical connection comprises an interface contact, the first electrical connection and the second electrical connection The other one of the electrical connections includes an interface thimble;

When the first connection part is connected with the second connection part, the interface contact contacts with the interface ejector pin to establish an electrical connection between the flying device and the handheld gimbal.
The flying device according to claim 231, further comprising an image transmission module, the handheld gimbal includes a camera module, and the image transmission module is configured to communicate with the camera module.
The flying device according to claim 238, wherein in the combined state, the image transmission module can be connected to the camera module of the handheld gimbal and the control terminal in communication.
The flying device according to claim 238, wherein the image transmission module comprises a wireless communication unit and a processing unit.
The flying device according to claim 240, wherein the wireless communication unit is arranged on the flying device, the processing unit is arranged on the handheld gimbal, the wireless communication unit and the processing unit Communication is achieved through the electrical connection established between the flying device and the handheld gimbal in the combined state.
The flying device according to claim 240, wherein the wireless communication unit and the processing unit are provided on the flying device.
The flying device according to claim 240, wherein the wireless communication unit and the processing unit are provided on the handheld gimbal.
The flying device of claim 231, wherein the flying device comprises a fuselage and an arm, and when the flying kit is in a flying state, a plurality of the arms are arranged around the fuselage.
244. The flying device of claim 244, wherein the wireless communication unit comprises a radio frequency antenna, the radio frequency antenna being disposed at least partially on an arm of the flying device.
The flying device according to claim 245, wherein each arm of the flying device is provided with the radio frequency antenna.
The flying device according to claim 245 or 246, wherein the radio frequency antenna extends along the length direction of the aircraft arm.
The flight device according to claim 231, wherein the flight device comprises a flight control module and a power system, the flight control module is used to communicate with the power system, and the flight control module is used to control all the power output of the power system.
The flying device of claim 248, wherein the power system comprises:

propeller;

a motor, the output shaft of the motor is fixedly connected with the propeller, so as to drive the propeller to rotate;

Electronic governor, the flight control module is used to communicate with the electronic governor, and the electronic governor is electrically connected to the motor, and the electronic governor is used to communicate with the electronic governor according to the flight control module. A control signal is sent to control the rotational speed and/or steering of the motor.
The flying device according to claim 248, further comprising an obstacle avoidance module, wherein the obstacle avoidance module is at least used to detect obstacle information in the flight direction.
The flying device according to claim 250, wherein the obstacle avoidance module and the flight control module are respectively connected in communication with a control terminal, and the obstacle avoidance module is configured to send the obstacle information to the control terminal. terminal, so that the control terminal determines flight control information according to the obstacle information, and sends the determined flight control information to the flight control module.
The flying device according to claim 250, wherein the obstacle avoidance module is provided on the flying device and/or the handheld gimbal.
The flying device of claim 252, wherein the obstacle avoidance module is provided on the handheld gimbal.
The flying device according to claim 253, wherein the obstacle avoidance module is provided on the grip portion, and the obstacle avoidance module always faces the flight direction of the flying device; or,

The obstacle avoidance module is movably arranged on the grip portion, and the obstacle avoidance module always faces the flight direction of the flying device.
The flying device of claim 254, wherein the obstacle avoidance module comprises one or more.
The flying device according to claim 252, wherein the obstacle avoidance module is provided at the end of an arm of the flying device.
The flying device according to claim 256, wherein an obstacle avoidance module is provided at the end of each of the arms, and the signal sending and receiving directions of the obstacle avoidance modules on each arm are staggered up and down, so that a plurality of The obstacle avoidance module forms a 360° omnidirectional obstacle avoidance.
The flying device according to claim 231, wherein a display module is provided on the grip portion, and the display module is communicatively connected to a camera module of the handheld gimbal.
The flying device according to claim 231, further comprising a positioning module, wherein the positioning module is configured to determine the relative position of the flying device with respect to the ground, thereby determining the flight trajectory of the flying device.
The flying device according to claim 259, wherein the positioning module is connected in communication with a control terminal, so as to send the flight trajectory information to the control terminal.
The flying device of claim 259, wherein the positioning module is provided on an arm of the flying device.
The flying device according to claim 231, wherein the holding portion is rotatably connected to the camera module of the handheld gimbal through a first shaft assembly, a second shaft assembly and a third shaft assembly.
The flying device according to claim 262, wherein the first shaft assembly comprises a first rotating shaft and a first connecting arm, and one end of the first connecting arm and the holding portion pass through the first rotating shaft pivotally connected, the first axis of rotation is parallel to the yaw axis of the flight kit;

The second shaft assembly includes a second rotating shaft and a second connecting arm, the other end of the first connecting arm is fixedly connected to one end of the second connecting arm, and the other end of the second connecting arm is connected to the first connecting arm. The two rotating shafts are pivotally connected, and the second rotating shaft is parallel to the pitch axis of the UAV;

The third shaft assembly includes a third rotating shaft and a third connecting arm, one end of the third connecting arm is pivotally connected to the second rotating shaft, and the other end of the third connecting arm and the camera module pass through the The third rotating shaft is pivotally connected, and the third rotating shaft is parallel to the roll axis of the flying kit.
The flying device of claim 231, wherein the hand-held gimbal is provided with a landing gear.
The flying device of claim 264, wherein the landing gear is connected to the grip portion of the hand-held gimbal.
The flying device of claim 265, wherein the landing gear is detachably connected to the grip portion of the hand-held gimbal.
The flying device of claim 264, wherein:

The camera module of the hand-held pan/tilt head is rotatably connected to the holding portion through a first shaft assembly, and the landing gear is connected to the first shaft assembly, so that the landing gear can rotate following the first shaft assembly .
267. The flying device of claim 267, wherein the landing gear is removably connected to the first axle assembly.
The flying device according to claim 264, wherein the landing gear includes a retracted state and a retracted state; in the retracted state, the landing gear at least avoids photographing by the camera module of the handheld gimbal Viewing angle; in the lowered state, the landing gear is lower than the camera module.
269. The flying device of claim 269, wherein the landing gear is capable of moving relative to the handheld gimbal to switch between the retracted state and the lowered state.
The flying device according to claim 270, wherein the landing gear is rotatably connected to the handheld gimbal;

And/or, the landing gear is slidably connected to the handheld gimbal, and the sliding direction of the landing gear is consistent with the length direction of the handheld gimbal;

And/or, the landing gear includes at least two mutually hinged support rods;

And/or, the landing gear includes at least two support rods slidably connected to each other.
The flying device according to claim 270, further comprising a landing gear driving module, wherein the landing gear driving module is configured to drive the landing gear to move, so as to switch between the retracted state and the lowered state.
The flying device of claim 272, further comprising:

an operating state monitoring device, electrically connected to the landing gear drive module, the operating state monitoring device is used to monitor the operating state information of the flight kit, and send the operating state information to the landing gear drive module, so as to The landing gear driving module drives the landing gear to move according to the operating state information.
The flying device according to claim 272, wherein the landing gear driving module is further connected in communication with a control terminal, and the landing gear driving module is configured to control and drive the landing gear according to a control command sent by the control terminal. drop motion.
The flying device according to claim 269, wherein the retracting direction of the landing gear is a direction away from the camera module of the handheld gimbal.
The flying device according to claim 231, wherein the flying device has a fuselage and a plurality of arms, and a plurality of the arms are rotatably connected to the fuselage, so that the flying device has Collapsed and expanded states.
The flying device of claim 276, wherein in the folded state, a plurality of the arms are substantially parallel;

and/or, in the unfolded state, a plurality of the arms are evenly arranged around the fuselage of the flying device;

And/or, the folding direction of the arm is toward the side of the flying device for installing the hand-held head;

And/or, the folding direction of the arm is away from the side of the flying device for installing the hand-held gimbal.
The flying device according to claim 276, wherein the flying device has a first connecting part, the handheld gimbal has a second connecting part, and the first connecting part and the second connecting part can be connected , to lock the flying device in the deployed state.
The flying device according to claim 276, wherein the end of the arm away from the fuselage is provided with a paddle, a paddle seat or a paddle clip, and the power system comprises a motor, and the motor is connected to the paddle. The seat or the paddle clip is fixedly connected to drive the paddle seat or the paddle clip to rotate, thereby driving the paddle to rotate.
279. The flying device of claim 279, wherein each arm has at least two paddles, the at least two paddles being pivotally connected to the paddle seat or paddle clip, respectively, to allow the paddles The leaves can be folded relative to the arms.
The flying device according to claim 278, characterized in that, when the flying device is in the unfolded state, a receiving groove is formed between at least two adjacent arms, and a lock is provided on the hand-held gimbal When the first connecting part is connected with the second connecting part, the locking protrusion is snapped into the accommodating groove to lock the flying device in the unfolded state.
The flying device of claim 281, wherein the locking protrusion is formed on the second connecting portion.
The flying device according to claim 232, wherein the connection method of the first connection part and the second connection part comprises at least one of the following: screw connection, snap connection, and magnetic attraction.
The flying device according to claim 283, wherein the connection manner of the first connection part and the second connection part comprises a snap connection;

One of the first connection part and the second connection part has a first clamping part, and the other of the first connection part and the second connection part has a clamping part matched with the first clamping part. The first matching portion can be engaged with the first matching portion at the first clamping portion, so as to connect the first connecting portion with the second connecting portion.
The flying device according to claim 284, wherein the first holding part is movably connected to one of the first connecting part and the second connecting part, and the first holding part is capable of move between a locked position and a disengaged position;

In the locking position, the first clamping portion is engaged with the first matching portion, and the flying device and the handheld gimbal are in a combined state;

In the separation position, the first clamping portion is separated from the first matching portion, and the flying device and the handheld gimbal are in a separated state.
The flying device according to claim 285, wherein the first clamping part is connected with a driving part, and the driving part is used for receiving an external driving force to drive the first clamping part to move.
The flying device according to claim 231, wherein a shock absorbing module is provided on a side of the handheld gimbal close to the second connecting portion.
The flying device according to claim 287, wherein the second connecting portion is disposed at one end of the holding portion, and the damping module is disposed between the holding portion and the second connecting portion between.
The flying device according to claim 287, wherein the damping module is disposed between the second connecting portion and the fuselage.
The flying device according to claim 232, wherein the handheld gimbal further has a third connection part and a third electrical connection part, the third connection part is used for detachable connection with an external communication device, so The third electrical connection portion is used to establish electrical connection with an external communication device to at least transmit data.
A handheld cloud platform, characterized in that it comprises: a holding part;

The handheld gimbal is used for detachable connection with the flying device, so that the flying kit has a combined state and a separated state;

In the combined state, the hand-held gimbal is protruded from the flying device, one end of the hand-held gimbal is connected to the flying device, and the grip portion of the hand-held gimbal is protruded from the flying device Device setting; in the separated state, the handheld pan/tilt can be used alone.
The handheld gimbal according to claim 293, wherein the flying device has a first connection part and a first electrical connection part, and the handheld gimbal has a second connection part and a second electrical connection part, wherein the In the combined state, the first connecting portion and the second connecting portion are detachably connected, and the first electrical connecting portion and the second electrical connecting portion are butted to establish an electrical connection.
The handheld gimbal according to claim 292, wherein in the combined state, the flying device and the handheld gimbal establish power supply through the first electrical connection part and the second electrical connection part connect;

And/or, in the combined state, the flight device and the handheld gimbal establish a communication connection with the second electrical connection portion through the first electrical connection portion.
The handheld gimbal according to claim 293, wherein the handheld gimbal is provided with an energy supply module, and in the combined state, the handheld gimbal supplies power to the flying device through the energy supply module to enter airplane mode.
The hand-held gimbal according to claim 294, wherein in the flight mode, the power supply module can respectively supply power to the camera module of the hand-held gimbal and the flight device; or, in the flight mode, The power supply module can sequentially supply power to the camera module of the handheld gimbal and the flying device.
The hand-held platform according to claim 294, wherein a receiving cavity for receiving the energy supply module is provided in the grip portion, and the energy supply module is detachably received in the receiving cavity.
The hand-held platform of claim 291, wherein one of the first electrical connection portion and the second electrical connection portion comprises an interface contact, the first electrical connection portion and the first electrical connection portion The other one of the two electrical connections includes an interface thimble;

When the first connection part is connected with the second connection part, the interface contact contacts with the interface ejector pin so as to establish an electrical connection between the flying device and the handheld gimbal.
The handheld pan/tilt according to claim 291, further comprising an image transmission module, the handheld pan/tilt includes a camera module, and the image transmission module is configured to communicate with the camera module.
The handheld gimbal according to claim 298, wherein in the combined state, the image transmission module is connected in communication with the camera module of the handheld gimbal and the control terminal.
The handheld PTZ according to claim 298, wherein the image transmission module comprises a wireless communication unit and a processing unit.
The handheld gimbal according to claim 300, wherein the wireless communication unit is arranged on the flying device, the processing unit is arranged on the handheld gimbal, the wireless communication unit and the processing unit The unit realizes communication through the electrical connection established between the flying device and the handheld gimbal in the combined state.
The handheld platform according to claim 300, wherein the wireless communication unit and the processing unit are provided on the flying device.
The handheld PTZ according to claim 300, wherein the wireless communication unit and the processing unit are provided on the handheld PTZ.
The hand-held platform according to claim 291, wherein the flying device comprises a fuselage and an arm, and when the flying kit is in a flying state, a plurality of the arms are arranged around the fuselage.
The handheld gimbal according to claim 304, wherein the wireless communication unit comprises a radio frequency antenna, and the radio frequency antenna is at least partially provided on the arm of the flying device.
The handheld gimbal according to claim 305, wherein the radio frequency antenna is provided on each arm of the flying device.
The handheld pan/tilt according to claim 305 or 306, wherein the radio frequency antenna extends along the length direction of the machine arm.
The handheld gimbal according to claim 291, wherein the flight device comprises a flight control module and a power system, the flight control module is used to communicate with the power system, and the flight control module is used to control The power output of the power system.
The handheld gimbal of claim 308, wherein the power system comprises:

propeller;

a motor, the output shaft of the motor is fixedly connected with the propeller, so as to drive the propeller to rotate;

Electronic governor, the flight control module is used to communicate with the electronic governor, and the electronic governor is electrically connected to the motor, and the electronic governor is used to communicate with the electronic governor according to the flight control module. A control signal is sent to control the rotational speed and/or steering of the motor.
The handheld gimbal according to claim 308, further comprising an obstacle avoidance module, wherein the obstacle avoidance module is at least used to detect obstacle information in the flight direction.
The handheld PTZ according to claim 310, wherein the obstacle avoidance module and the flight control module are respectively connected in communication with a control terminal, and the obstacle avoidance module is configured to send the obstacle information to the the control terminal, so that the control terminal determines flight control information according to the obstacle information, and sends the determined flight control information to the flight control module.
The handheld gimbal according to claim 310, wherein the obstacle avoidance module is provided on the flying device and/or the handheld gimbal.
The handheld gimbal according to claim 312, wherein the obstacle avoidance module is provided on the handheld gimbal.
The handheld gimbal according to claim 312, wherein the obstacle avoidance module is disposed on the grip portion, and the obstacle avoidance module always faces the flight direction of the flying device; or,

The obstacle avoidance module is movably arranged on the grip portion, and the obstacle avoidance module always faces the flight direction of the flying device.
The handheld gimbal of claim 314, wherein the obstacle avoidance module comprises one or more.
The handheld gimbal of claim 312, wherein the obstacle avoidance module is disposed at the end of an arm of the flying device.
The handheld gimbal according to claim 316, wherein an obstacle avoidance module is provided at the end of each arm, and the signal sending and receiving directions of the obstacle avoidance modules on each arm are staggered up and down, so that multiple The obstacle avoidance module forms a 360° omnidirectional obstacle avoidance.
The hand-held pan/tilt according to claim 291, wherein a display module is provided on the holding part, and the display module is communicatively connected with the camera module of the hand-held pan/tilt.
The hand-held platform according to claim 291, further comprising a positioning module, the positioning module is used to determine the relative position of the flying device relative to the ground, and then determine the flight trajectory of the flying device.
The hand-held cloud platform according to claim 319, wherein the positioning module is connected in communication with a control terminal, so as to send the flight trajectory information to the control terminal.
The handheld gimbal of claim 319, wherein the positioning module is disposed on an arm of the flying device.
The hand-held pan/tilt head according to claim 291, wherein the holding part is rotatably connected to the camera module of the hand-held pan/tilt head via a first shaft assembly, a second shaft assembly and a third shaft assembly.
The hand-held platform according to claim 322, wherein the first shaft assembly comprises a first rotating shaft and a first connecting arm, and one end of the first connecting arm and the holding portion pass through the first connecting arm. The rotating shaft is pivotally connected, and the first rotating shaft is parallel to the yaw axis of the flight kit;

The second shaft assembly includes a second rotating shaft and a second connecting arm, the other end of the first connecting arm is fixedly connected to one end of the second connecting arm, and the other end of the second connecting arm is connected to the first connecting arm. The two rotating shafts are pivotally connected, and the second rotating shaft is parallel to the pitch axis of the UAV;

The third shaft assembly includes a third rotating shaft and a third connecting arm, one end of the third connecting arm is pivotally connected to the second rotating shaft, and the other end of the third connecting arm and the camera module pass through the The third rotating shaft is pivotally connected, and the third rotating shaft is parallel to the roll axis of the flying kit.
The handheld gimbal of claim 291, wherein the handheld gimbal is provided with a landing gear.
The hand-held gimbal of claim 324, wherein the landing gear is connected to the grip portion of the hand-held gimbal.
The handheld gimbal of claim 325, wherein the landing gear is detachably connected to the grip portion of the handheld gimbal.
The handheld PTZ of claim 324, wherein:

The camera module of the hand-held pan/tilt head is rotatably connected to the holding portion through a first shaft assembly, and the landing gear is connected to the first shaft assembly, so that the landing gear can rotate following the first shaft assembly .
The handheld head of claim 327, wherein the landing gear is detachably connected to the first shaft assembly.
The handheld gimbal according to claim 324, wherein the landing gear includes a retracted state and a lowered state; in the retracted state, the landing gear at least avoids the camera module of the handheld gimbal Shooting angle; in the lowered state, the landing gear is lower than the camera module.
329. The unmanned aerial vehicle of claim 329, wherein the landing gear is movable relative to the handheld gimbal to switch between the retracted state and the lowered state.
The unmanned aerial vehicle according to claim 330, wherein the landing gear is rotatably connected to the handheld gimbal;

And/or, the landing gear is slidably connected to the handheld gimbal, and the sliding direction of the landing gear is consistent with the length direction of the handheld gimbal;

And/or, the landing gear includes at least two mutually hinged support rods;

And/or, the landing gear includes at least two support rods slidably connected to each other.
The hand-held platform according to claim 330, further comprising a landing gear driving module, wherein the landing gear driving module is used for driving the landing gear to move, so as to switch between the retracted state and the lowered state .
The hand-held platform according to claim 332, further comprising:

an operating state monitoring device, electrically connected to the landing gear drive module, the operating state monitoring device is used to monitor the operating state information of the flight kit, and send the operating state information to the landing gear drive module, so as to The landing gear driving module drives the landing gear to move according to the operating state information.
The handheld gimbal according to claim 333, wherein the landing gear driving module is further connected in communication with a control terminal, and the landing gear driving module is configured to control and drive the landing gear according to a control command sent by the control terminal. Landing gear movement.
The hand-held gimbal according to claim 324, wherein the retraction direction of the landing gear is a direction away from the camera module of the hand-held gimbal.
The hand-held platform according to claim 291, wherein the flying device has a fuselage and a plurality of arms, and a plurality of the arms are rotatably connected to the fuselage, so that the flying device has Has a collapsed state and an expanded state.
The hand-held pan/tilt according to claim 336, wherein in the folded state, a plurality of the arms are substantially parallel;

and/or, in the unfolded state, a plurality of the arms are evenly arranged around the fuselage of the flying device;

And/or, the folding direction of the arm is toward the side of the flying device for installing the hand-held head;

And/or, the folding direction of the arm is away from the side of the flying device for installing the hand-held gimbal.
The hand-held gimbal of claim 336, wherein the flying device has a first connecting portion, the hand-held gimbal has a second connecting portion, and the first connecting portion and the second connecting portion are capable of connected to lock the flying device in the deployed state.
The handheld gimbal according to claim 336, wherein the end of the arm away from the fuselage has a paddle, and a paddle seat or a paddle clamp, and the power system includes a motor, and the motor is connected to the fuselage. The paddle seat or the paddle clip is fixedly connected to drive the paddle seat or the paddle clip to rotate, thereby driving the paddle blade to rotate.
The hand-held head of claim 339, wherein each arm has at least two paddles, and the at least two paddles are pivotally connected to the paddle seat or paddle clip, respectively, so that the The paddles can be folded relative to the arms.
The handheld gimbal according to claim 338, wherein when the flying device is in the unfolded state, a receiving groove is formed between at least two adjacent arms, and a lock is provided on the handheld gimbal When the first connecting part is connected with the second connecting part, the locking protrusion snaps into the accommodating groove to lock the flying device in the unfolded state.
The handheld platform according to claim 341, wherein the locking protrusion is formed on the second connecting portion.
The handheld pan/tilt according to claim 292, wherein the connection method of the first connection part and the second connection part comprises at least one of the following: screw connection, snap connection, and magnetic attraction.
The hand-held platform according to claim 343, wherein the connection mode of the first connection part and the second connection part comprises a snap connection;

One of the first connection part and the second connection part has a first clamping part, and the other of the first connection part and the second connection part has a clamping part matched with the first clamping part. The first matching portion can be engaged with the first matching portion at the first clamping portion, so as to connect the first connecting portion with the second connecting portion.
The handheld platform according to claim 344, wherein the first clamping part is movably connected to one of the first connection part and the second connection part, and the first clamping part Ability to move between locked and disengaged positions;

In the locking position, the first clamping portion is engaged with the first matching portion, and the flying device and the handheld gimbal are in a combined state;

In the separation position, the first clamping portion is separated from the first matching portion, and the flying device and the handheld gimbal are in a separated state.
The handheld platform according to claim 345, wherein a driving part is connected to the first clamping part, and the driving part is used for receiving an external driving force to drive the first clamping part to move.
The handheld cloud platform according to claim 291, wherein a shock absorbing module is provided on a side of the handheld cloud platform close to the second connecting portion.
The handheld gimbal according to claim 347, wherein the second connecting portion is disposed at one end of the holding portion, and the shock absorbing module is disposed at the holding portion and the second connecting portion between.
The handheld gimbal of claim 347, wherein the shock absorption module is disposed between the second connection portion and the body.
The handheld pan/tilt according to claim 292, wherein the handheld pan/tilt further has a third connection part and a third electrical connection part, the third connection part is used for detachable connection with an external communication device, The third electrical connection part is used for establishing electrical connection with an external communication device so as to at least transmit data.