WO2022266869A1

WO2022266869A1 - Unmanned aerial vehicle

Info

Publication number: WO2022266869A1
Application number: PCT/CN2021/101670
Authority: WO
Inventors: 舒展; 龙玉其; 冯建刚
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2021-06-22
Filing date: 2021-06-22
Publication date: 2022-12-29

Abstract

An unmanned aerial vehicle, having a landing state and a flight state, and comprising: a housing (11) provided with a photographing window (11a); a camera (12) provided in the housing (11) and facing the photographing window (11a); a protective cover (13) movably provided on the housing (11) and used for opening/closing the photographing window (11a); a blower device (14) provided in the housing (11) and used for blowing air to one side of the protective cover (13); and a controller (18) electrically connected to the blower device (14) and used for controlling the working state of the blower device (14). In the landing state, the protective cover (13) seals the photographing window, and the controller (18) automatically controls the blower device (14) to be closed; in the flight state, the protective cover (13) opens the photographing window (11a), and the controller (18) automatically controls the blower device (14) to be started. Also provided is a control method for the unmanned aerial vehicle. According to the unmanned aerial vehicle and the control method, air can be blown to one side of the protective cover (13) by the blower device (14), and the pressure of an external airflow is resisted by the pressure of the blown air, such that sprayed pesticide is prevented from entering the housing to pollute the camera (12).

Description

UAV

technical field

The invention relates to the field of unmanned aerial vehicles, in particular to unmanned aerial vehicles.

Background technique

With the gradual expansion of the application field of unmanned aerial vehicles, the requirements for the intelligence and safety of unmanned aerial vehicles are getting higher and higher. As a mature sensing technology, vision technology has been widely used in the field of consumer drones (especially entertainment drones). Operators can use the camera mounted on drones to obtain videos that are usually difficult to shoot directly image. Applying vision technology to unmanned aerial vehicles will greatly improve the intelligence of unmanned aerial vehicles, improve the positioning and obstacle avoidance accuracy of unmanned aerial vehicles, and increase safety.

However, since unmanned aerial vehicles generally have a drug spraying device, the shooting device on the drone needs to operate in an environment with a large amount of spray and dust pollution. In particular, when working at high altitudes where the wind direction is uncertain, the spray and dust sprayed by the spraying device may be blown to the shooting device by the external airflow, thereby covering the camera of the shooting device, eventually affecting the visual detection function of the drone, and even causing its positioning , The obstacle avoidance function fails.

At present, the shooting device on the unmanned aerial vehicle lacks protection, and the operator can only use a cloth to wipe and clean the camera when the unmanned aerial vehicle lands, but this will increase the wear and tear of the lens, affect the imaging effect, and reduce the service life.

Contents of the invention

In view of the technical problems existing in the background technology, the present invention provides an unmanned aerial vehicle, which has a landing state and a flight state, including:

The casing has a shooting window;

a camera, arranged in the casing and facing the shooting window;

A protective cover, which is movably arranged on the housing, is used to open/close the shooting window;

a blower device, arranged in the housing, for blowing gas to one side of the protective cover; and

a controller, electrically connected to the blower device, for controlling the working state of the blower device,

In the landing state, the protective cover closes the shooting window, and the controller automatically controls the blowing device to close;

In the flying state, the protective cover opens the shooting window, and the controller automatically controls the opening of the blowing device.

In some embodiments of the present invention, the protective cover is moved by the pressure of the gas blown by the blowing device, so as to open the shooting window.

In some embodiments of the present invention, the protective cover automatically closes the shooting window by its own gravity.

In some embodiments of the present invention, the UAV further includes: an elastic reset member mechanically coupled with the protective cover for providing an elastic force to the protective cover so that the The protective cover is kept in a closed state or an open state under the elastic force of the elastic reset member.

In some embodiments of the present invention, the elastic reset member is a torsion spring, a spring, or a shrapnel.

In some embodiments of the present invention, the unmanned aerial vehicle further includes: a driving part, the driving part is electrically connected to the controller, and is mechanically coupled with the housing, and is used to drive the protective cover to move so that the protective cover can be selectively in a closed state or an open state.

In some embodiments of the present invention, the driving member is a motor, a telescopic cylinder, or an electromagnet

In some embodiments of the present invention, the unmanned aerial vehicle further includes: a transmission assembly, and the driving member drives the protective cover to move through the transmission assembly.

In some embodiments of the present invention, the transmission assembly includes at least one of the following: a gear set, a pulley, a worm gear, and a lead screw.

In some embodiments of the present invention, the protective cover is rotatably connected to the housing.

In some embodiments of the present invention, the protective cover is located above the shooting window, so that the protective cover is turned down to be in a closed state.

In some embodiments of the present invention, the protective cover is located below the shooting window, so that the protective cover is turned upwards to be in a closed state.

In some embodiments of the present invention, the protective cover is slidably connected to the housing.

In some embodiments of the present invention, the protective cover is located on the left or/right side of the shooting window, so that the protective cover slides left and right to be in a closed state.

In some embodiments of the present invention, the controller is also used to automatically control the active state of the protective cover according to the state of the UAV, when the UAV is in the landing state, the The controller automatically controls the protective cover to close the shooting window; when the UAV is in the flight state, the controller automatically controls the protective cover to open the shooting window.

In some embodiments of the present invention, the controller is further configured to automatically control the working state of the blower device according to the active state of the protective cover. When the active state of the protective cover is in the closed state, the The controller automatically controls the blowing device to close; when the protective cover is in an open state, the controller automatically controls the blowing device to open.

In some embodiments of the present invention, the unmanned aerial vehicle further includes: a sensor for sensing the active state of the protective cover, the sensor is electrically connected to the controller, and is used to connect the protective cover The active status is sent to the controller.

In some embodiments of the present invention, the sensor is a distance sensor or an angle sensor.

In some embodiments of the present invention, the sensor is a Hall sensor or a photoelectric sensor.

In some embodiments of the present invention, the controller is used to directly control the working state of the blowing device according to the state of the UAV; when the UAV is in the landing state, the control The controller automatically controls the blowing device to close; when the UAV is in the flight state, the controller automatically controls the blowing device to open.

In some embodiments of the present invention, the controller is further configured to automatically control the active state of the protective cover according to the working state of the blower device, when the blower device is in the closed state, the The controller automatically controls the protective cover to close the shooting window; when the blower device is in the open state, the controller automatically controls the protective cover to open the shooting window.

In some embodiments of the present invention, the protective cover is rotatably connected to the housing, and can be kept open at least 90 degrees relative to the plane where the shooting window is located by virtue of the pressure of the gas blown by the blowing device. .

In some embodiments of the present invention, the camera is arranged on a side closer to the protective cover relative to the blower device.

In some embodiments of the present invention, the protective cover is arranged at one end of the casing, and the blower device is arranged at the other end of the casing, so that external air can be blown through the blower device. to the protective cover.

In some embodiments of the present invention, the housing includes a tapered portion, the protective cover is disposed at the end of the tapered portion with a small cross-sectional area, and the blower device is disposed at the end of the tapered portion with a large cross-sectional area. one end.

In some embodiments of the present invention, the air blowing device is a fan.

In some embodiments of the present invention, the fan is a ducted exhaust fan.

In some embodiments of the present invention, the unmanned aerial vehicle also includes: a fuselage;

An arm connected to the fuselage; a spraying device for spraying liquid/gas arranged on the fuselage or the arm; the casing is arranged on the fuselage or the arm.

In some embodiments of the present invention, in the flying state and when the spraying device sprays liquid/gas, the protective cover opens the shooting window by virtue of the pressure of the gas blown by the blowing device.

In some embodiments of the invention, the liquid/gas is an agricultural drug.

In addition, the present invention also provides a control method for an unmanned aerial vehicle, including:

Obtain the flight status of the UAV; and

According to the flight state of the unmanned aerial vehicle, control the working state of the blower device or/and the active state of the protective cover;

Wherein, in the landing state, the protective cover closes the shooting window, and the blowing device is closed; in the flying state, the protective cover opens the shooting window, and the blowing device is turned on.

In some embodiments of the present invention, the working state of the blower device is controlled according to the active state of the protective cover; wherein, when the active state of the protective cover is in the closed state, the blower device is controlled to be closed ; When the active state of the protective cover is in the open state, control the opening of the blowing device.

In some embodiments of the present invention, according to the working state of the blowing device, the active state of the protective cover is controlled; wherein, when the blowing device is in the closed state, the protective cover is controlled to close the A shooting window; when the blowing device is in an open state, the protective cover is controlled to open the shooting window.

The unmanned aerial vehicle and its control method provided by the present invention can blow gas to one side of the protective cover with the air blowing device, and use the pressure of the blowing gas to resist the pressure of the external air flow, thereby preventing sprayed pesticides from entering the casing and contaminating the camera.

Description of drawings

Fig. 1 is the perspective view of the unmanned aerial vehicle that the embodiment of the present invention provides;

Fig. 2 is the front view of the unmanned aerial vehicle shown in Fig. 1;

Fig. 3 is a perspective view of the shooting unit of the unmanned aerial vehicle shown in Fig. 1;

Fig. 4 is a side view of the photographing unit shown in Fig. 3;

Fig. 5 is a rear view of the photographing unit shown in Fig. 3;

Fig. 6 is a sectional view of the photographing unit shown in Fig. 3;

FIG. 7 is a control schematic diagram of the controller of the UAV shown in FIG. 1 .

detailed description

In order to make the purpose, technical solution and advantages of the invention clearer, the invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the invention may be embodied in various forms and should not be limited to the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present invention and to fully convey the concept of the present invention to those skilled in the art.

Example 1

As shown in FIGS. 1-7 , this embodiment provides an unmanned aerial vehicle 100 with a camera unit 10 , which mainly includes a housing 11 , a camera 12 , a protective cover 13 , an air blowing device 14 and a controller 18 . The UAV 100 has a landing state and a flight state.

Among them, the housing 11 has a photographing window 11a. The camera 12 is disposed in the casing 11 and faces the shooting window 11a. The protective cover 13 is movably disposed on the casing 11 for opening/closing the shooting window 11a. The air blowing device 14 is disposed in the casing 11 and is used for blowing air toward the side of the protective cover 13 . The controller 18 is electrically connected (or communicatively connected) to the blower device 14 for controlling the working state (on/off) of the blower device 14 . When the UAV 100 is in the landing state, the protective cover 13 closes the shooting window 11a, and the controller 18 automatically controls the blowing device 14 to close. When the UAV 100 is in flight, the protective cover 13 opens the shooting window 11a, and the controller 18 automatically controls the blowing device 14 to open.

Those skilled in the art should be able to understand that the unmanned aerial vehicle 100 does not need to spray pesticides or take pictures when it is in the landing state. The protective cover 13 closes the shooting window 11a, and the blower device 14 is closed. The unmanned aerial vehicle 100 is spraying pesticides in the flying state. In order to take pictures, the protective cover 13 needs to open the shooting window 11a. At this time, the blower device 14 is controlled to blow gas to the side of the protective cover 13, and the pressure of the blowing gas is used to resist the pressure of the external air flow. , so as to prevent sprayed pesticides from entering the casing 11 and polluting the camera 12 .

In addition, those skilled in the art should understand that in this embodiment, an independent housing 11 is provided for the photographing unit 10 . In other embodiments, an independent housing 11 may not be provided, but the above-mentioned components are directly arranged in the housing formed by the fuselage 20 of the UAV 100.

Further, the protective cover 13 is moved by the pressure of the gas blown by the blower device 14 to open the shooting window 11a. The protective cover 13 automatically closes the shooting window 11a by its own gravity.

Those skilled in the art should be able to understand that, based on the above structure, the gas blown by the blower device 14 to the side of the protective cover 13 will first blow the protective cover 13 to the state of opening the shooting window 11a, and then rely on the pressure of the blowing gas to resist the impact of the external airflow. pressure, thereby preventing sprayed pesticides from entering the casing 11 and contaminating the camera 12.

Further, the protective cover 13 is rotatably connected with the casing 11 . For example, the protective cover 12 is located above the shooting window 11a, so that the protective cover 13 is turned down to be in a closed state (as shown in FIG. 3 ). For another example, the protective cover 13 is located below the shooting window 11a, so that the protective cover 13 is turned upwards to be in a closed state.

Furthermore, the protective cover 13 can be kept open at least 90 degrees relative to the plane where the shooting window 11a is located by virtue of the pressure of the gas blown by the blower device 14 .

In an alternative embodiment, the unmanned aerial vehicle 100 includes an elastic reset member 15, which is mechanically coupled with the protective cover 13, and is used to provide an elastic force to the protective cover 13, so that the protective cover 13 is elastically The reset member 15 is kept in the closed state or the open state under the elastic force. The elastic reset member 15 can be a torsion spring, a spring, or a shrapnel. Specifically, in the illustrated embodiment, the elastic return member 15 is a torsion spring.

Further, the unmanned aerial vehicle 100 provided in this embodiment also includes a fuselage 20, an arm 30 connected to the fuselage 20, a spraying device 40 for spraying liquid/gas arranged on the fuselage 20 or the arm 30, The casing 11 is disposed on the fuselage 20 or the arm 30 .

Furthermore, when the UAV 100 is in flight and the spraying device 20 sprays liquid/gas, the protective cover 13 opens the shooting window 11a by virtue of the pressure of the gas blown by the blowing device 14 . The liquid/gas may be agricultural medicine.

Example 2

As shown in Figures 1 to 6, the present embodiment provides an unmanned aerial vehicle 100 with a camera unit 10, which mainly includes a housing 11, a camera 12, a protective cover 13, an air blowing device 14, a controller 18 and a driver 16. . The UAV 100 has a landing state and a flight state.

Among them, the housing 11 has a photographing window 11a. The camera 12 is disposed in the casing 11 and faces the shooting window 11a. The protective cover 13 is movably arranged on the housing 11 for opening/closing the shooting window 11a. The air blowing device 14 is disposed in the casing 11 and is used for blowing air toward the side of the protective cover 13 . The driving member 16 is mechanically coupled with the casing 11 and is used to drive the protective cover 13 to move. The controller 18 is electrically connected to the blower device 14 and is used to control the working state (on/off) of the blower device 14 . The controller 18 is also electrically connected to the driving part 16, and the driving part 16 drives the protective cover 13 to be selectively in a closed state or an open state. When the UAV 100 is in the landing state, the protective cover 13 closes the shooting window 11a, and the controller 18 automatically controls the blowing device 14 to close. When the UAV 100 is in flight, the protective cover 13 opens the shooting window 11a, and the controller 18 automatically controls the blowing device 14 to open.

Wherein, the driving member 16 may be a motor, a telescopic cylinder, or an electromagnet.

Further, the unmanned aerial vehicle 100 provided in this embodiment may further include a transmission assembly 17 , through which the driving member 16 drives the protective cover 13 to move. The transmission assembly 17 includes at least one of a gear set, a pulley, a worm gear, and a lead screw.

In this embodiment, the controller 18 is not only used to control the working state (on/off) of the blower device 14 , but also to automatically control the active state of the protective cover 13 according to the state of the UAV 100 . For example, utilize the controller 18 to control the above-mentioned driving member 16 to work, and then when the unmanned aerial vehicle 100 is in the landing state, the controller 18 automatically controls the protective cover 13 to close the shooting window 11a, and when the unmanned aerial vehicle 100 is in the flight state, the controller 18 automatically controls the protective cover 13 to open the shooting window 11a.

Example 3

Among them, the housing 11 has a photographing window 11a. The camera 12 is disposed in the casing 11 and faces the shooting window 11a. The protective cover 13 is movably disposed on the casing 11 for opening/closing the shooting window 11a. The air blowing device 14 is disposed in the casing 11 and is used for blowing air toward the side of the protective cover 13 . The driving member 16 is mechanically coupled with the casing 11 and is used to drive the protective cover 13 to move. The controller 18 is electrically connected to the blower device 14 and is used to control the working state (on/off) of the blower device 14 . The controller 18 is also electrically connected to the driving part 16, and the driving part 16 drives the protective cover 13 to be selectively in a closed state or an open state. When the UAV 100 is in the landing state, the protective cover 13 closes the shooting window 11a, and the controller 18 automatically controls the blowing device 14 to close. When the UAV 100 is in flight, the protective cover 13 opens the shooting window 11a, and the controller 18 automatically controls the blower 14 to open.

In this embodiment, the controller 18 is also used to automatically control the working state of the blower device 14 according to the active state of the protective cover 13. When the active state of the protective cover 13 is in a closed state, the controller 18 automatically controls the blower device. 14 off. When the active state of the protective cover 13 is in the open state, the controller 18 automatically controls the blower device 14 to open.

Further, the UAV 100 may also include a sensor 19 for sensing the active state of the protective cover 13, the sensor 19 is electrically connected to the controller 18, and is used to send the active state of the protective cover 13 to the controller 18 . The sensor 19 can be a distance sensor or an angle sensor, and can also be a Hall sensor or a photoelectric sensor.

Example 4

The difference between this embodiment and Embodiment 2 is that the controller 18 of this embodiment is used to directly control the working state of the blowing device 14 according to the state of the unmanned aerial vehicle 100, regardless of the activity of the protective cover 13 state. When the UAV 100 is in a landing state, the controller 18 automatically controls the blower device 14 to be turned off, and when the UAV 100 is in a flight state, the controller 18 automatically controls the blower device 14 to be turned on.

Example 5

As shown in Figures 1 to 6, the present embodiment provides an unmanned aerial vehicle 100 with a photographing unit 10, which mainly includes a housing 11, a camera 12, a protective cover 13, an air blowing device 14, and a controller 18 (not shown in the figure). ) and the driver 16. The UAV 100 has a landing state and a flight state.

Among them, the housing 11 has a photographing window 11a. The camera 12 is disposed in the casing 11 and faces the shooting window 11a. The protective cover 13 is movably disposed on the casing 11 for opening/closing the shooting window 11a. The air blowing device 14 is disposed in the casing 11 and is used for blowing air toward the side of the protective cover 13 . The driving member 16 is mechanically coupled with the casing 11 and is used to drive the protective cover 13 to move. The controller 18 is electrically connected to the blower device 14 and is used to control the working state (on/off) of the blower device 14 . The controller 18 is also electrically connected to the driving part 16, and the driving part 16 drives the protective cover 13 to be selectively in a closed state or an open state. When the UAV 100 is in the landing state, the protective cover 13 closes the shooting window 11a, and the controller 18 automatically controls the blowing device 14 to close. When the UAV 100 is in flight, the protective cover 13 opens the shooting window 11a, and the controller 18 automatically controls the blowing device 14 to open.

In this embodiment, the controller 18 is also used to automatically control the active state of the protective cover 13 according to the working state of the blower device 14. When the blower device 14 is in the closed state, the controller 18 automatically controls the protective cover 13 to close the shooting window 11a, and when the blower device 14 is in the open state, the controller 18 automatically controls the protective cover 13 to open the shooting window 11a.

On the basis of the above multiple embodiments, further, the protective cover 13 is rotatably connected to the casing 11 . For example, the protective cover 12 is located above the shooting window 11a, so that the protective cover 13 is turned down to be in a closed state (as shown in FIG. 3 ). For another example, the protective cover 13 is located below the shooting window 11a, so that the protective cover 13 is turned upwards to be in a closed state.

Alternatively, the protective cover 13 is slidably connected to the housing 11 . For example, the protective cover 13 is located on the left or/right side of the shooting window 11a, so that the protective cover 13 slides left and right to be in a closed state.

Further, the camera 12 is arranged on a side closer to the protective cover 13 relative to the blower device 14 .

Furthermore, the protective cover 13 is disposed at one end of the housing 11 , and the blower device 14 is disposed at the other end of the housing 11 , and enables external air to be blown to the protective cover 13 through the blower device 14 .

Those skilled in the art should be able to understand that based on the above structure, the camera head 12 is between the protective cover 13 and the blower device 14, so that the external air sucked by the blower device 14 can be completely blown to the entire camera head 12 first, and then to the protective cover 12. One side of the cover 13 can not only ensure the cleaning of the lens of the camera 12, but also ensure that the camera 12 as a whole is relatively clean, thereby reducing or avoiding wiping the camera 12.

Further, the housing 11 includes a tapered portion 11b, the protective cover 13 is arranged at one end of the tapered portion 11b with a small cross-sectional area (the left end as shown in FIG. One end (the right end as shown in Figure 6).

Therefore, using the tapered portion 11b of the housing 11 , the external air inhaled by the blower device 14 can be compressed to increase the air pressure, which is more conducive to resisting the pressure of the external airflow, thereby better ensuring the cleaning of the camera 12 .

The blowing device is a fan, and the fan is a ducted exhaust fan.

On the basis of the above-mentioned multiple embodiments, further, the unmanned aerial vehicle 100 also includes a fuselage 20, an arm 30 connected to the fuselage 20, and a device for spraying liquid/gas installed on the fuselage 20 or the arm 30. The spraying device 40 , the casing 11 is arranged on the fuselage 20 or the arm 30 .

Furthermore, when the UAV 100 is in flight and the spraying device 40 is spraying liquid/gas, the protective cover 13 opens the shooting window 11a, and the controller 18 automatically controls the blowing device 14 to open.

The liquid/gas is agricultural medicine.

In addition, the present invention also provides a control method for an unmanned aerial vehicle, comprising steps:

Obtain the flight status of the UAV; and

Those skilled in the art should be able to understand that the working state of the blower device and the active state of the protective cover can be controlled independently or simultaneously according to the flight state of the UAV. The unmanned aerial vehicle does not need to spray pesticides or shoot when it is in the landing state, so the protective cover is controlled to close the shooting window, and the blower device is controlled to be closed. The unmanned aerial vehicle sprays pesticides in the flying state. In order to shoot, control the protective cover to open the shooting window, and control the blowing device to open, blow the gas to the side of the protective cover, and use the pressure of the blowing gas to resist the pressure of the external air flow, thereby preventing spraying The pesticide enters the casing and contaminates the camera.

Further, the working state of the blowing device can also be controlled according to the active state of the protective cover. Wherein, when the movable state of the protective cover is in the closed state, the blower device is controlled to be closed; when the movable state of the protective cover is in the open state, the blower device is controlled to be opened.

Alternatively, the active state of the protective cover is controlled according to the working state of the blower device. Wherein, when the blowing device is in the closed state, the protective cover is controlled to close the shooting window; when the blowing device is in the open state, the protective cover is controlled to open the shooting window.

In the description of this specification, references to the terms "certain embodiments," "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" are intended to mean A specific feature, structure, material, or characteristic described by an embodiment or example is included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the described specific features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples and features of different embodiments or examples described in this specification without conflicting with each other.

In the present invention, the terms "first", "second", and "third" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance; the term "plurality" refers to two or two above, unless expressly limited otherwise. The terms "installation", "connection", "connection", "fixed" and other terms should be interpreted in a broad sense, for example, "connection" can be fixed connection, detachable connection, or integral connection; "connection" can be directly or indirectly through an intermediary. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention and not limitative. Although the present invention has been described in detail with reference to the embodiments, those of ordinary skill in the art should understand that modifications or equivalent replacements to the technical solutions of the present invention do not depart from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the present invention. within the scope of the claims of the invention.

Claims

A kind of unmanned aerial vehicle, has landing state and flight state, is characterized in that, comprises:

The casing has a shooting window;

a camera, arranged in the casing and facing the shooting window;

A protective cover, which is movably arranged on the housing, is used to open/close the shooting window;

a blower device, arranged in the housing, for blowing gas to one side of the protective cover; and

a controller, electrically connected to the blower device, for controlling the working state of the blower device,

In the landing state, the protective cover closes the shooting window, and the controller automatically controls the blowing device to close;

In the flying state, the protective cover opens the shooting window, and the controller automatically controls the opening of the blowing device.
The unmanned aerial vehicle according to claim 1, comprising:

The protective cover is moved by the pressure of the gas blown by the blowing device to open the shooting window.
The unmanned aerial vehicle according to claim 2, characterized in that:

The protective cover automatically closes the shooting window by its own gravity.
The unmanned aerial vehicle according to claim 1, further comprising:

an elastic restoring part, the elastic restoring part is mechanically coupled with the protective cover, and is used to provide an elastic force to the protective cover, so that the protective cover is kept in a closed state or opened under the elastic force of the elastic restoring part state.
The unmanned aerial vehicle according to claim 4, characterized in that:

The elastic reset member is a torsion spring, a spring, or a shrapnel.
The unmanned aerial vehicle according to claim 1, further comprising:

A driving part, the driving part is electrically connected with the controller and mechanically coupled with the casing, and is used to drive the protective cover to move, so that the protective cover can be selectively in a closed state or an open state.
The unmanned aerial vehicle according to claim 6, characterized in that:

The driving part is a motor, a telescopic cylinder, or an electromagnet.
The unmanned aerial vehicle according to claim 6, further comprising:

A transmission assembly, the driving member drives the protective cover to move through the transmission assembly.
The unmanned aerial vehicle according to claim 8, characterized in that:

The transmission assembly includes at least one of the following: a gear set, a pulley, a worm gear, and a lead screw.
The unmanned aerial vehicle according to claim 1, characterized in that:

The protective cover is rotatably connected with the housing.
The unmanned aerial vehicle according to claim 10, characterized in that:

The protective cover is located above the shooting window, so that the protective cover is turned down to be in a closed state.
The unmanned aerial vehicle according to claim 10, characterized in that:

The protective cover is located below the shooting window, so that the protective cover is turned upwards to be in a closed state.
The unmanned aerial vehicle according to claim 1, characterized in that:

The protective cover is slidably connected with the housing.
The unmanned aerial vehicle according to claim 13, characterized in that:

The protective cover is located on the left or/right side of the shooting window, so that the protective cover slides left and right to be in a closed state.
The unmanned aerial vehicle according to claim 1, characterized in that:

The controller is also used to automatically control the active state of the protective cover according to the state of the unmanned aerial vehicle, and when the unmanned aerial vehicle is in the landing state, the controller automatically controls the closure of the protective cover The shooting window; when the UAV is in the flight state, the controller automatically controls the protective cover to open the shooting window.
The unmanned aerial vehicle according to claim 1, characterized in that:

The controller is also used to automatically control the working state of the blower device according to the active state of the protective cover. When the active state of the protective cover is in the closed state, the controller automatically controls the blowing device. The device is closed; when the active state of the protective cover is in the open state, the controller automatically controls the blowing device to open.
The unmanned aerial vehicle according to claim 16, further comprising:

A sensor for sensing the active state of the protective cover, the sensor is electrically connected to the controller, and is used to send the active state of the protective cover to the controller.
The unmanned aerial vehicle according to claim 16, characterized in that:

The sensor is a distance sensor or an angle sensor.
The unmanned aerial vehicle according to claim 16, characterized in that:

The sensor is a Hall sensor or a photoelectric sensor.
The unmanned aerial vehicle according to claim 1, characterized in that:

The controller is used to directly control the working state of the blowing device according to the state of the unmanned aerial vehicle; when the unmanned aerial vehicle is in the landing state, the controller automatically controls the closing of the blowing device ; when the UAV is in the flight state, the controller automatically controls the blowing device to be turned on.
The unmanned aerial vehicle according to claim 1, characterized in that:

The controller is also used to automatically control the active state of the protective cover according to the working state of the blower device. When the blower device is in the closed state, the controller automatically controls the protective cover The shooting window is closed; when the blowing device is in the open state, the controller automatically controls the protective cover to open the shooting window.
The unmanned aerial vehicle according to claim 1, characterized in that:

The protective cover is rotatably connected to the casing, and can be kept open at least 90 degrees relative to the plane where the shooting window is located by virtue of the pressure of the gas blown by the blowing device.
The unmanned aerial vehicle according to claim 1, characterized in that:

The camera is arranged on a side closer to the protective cover relative to the blower device.
The unmanned aerial vehicle according to claim 23, characterized in that:

The protective cover is arranged at one end of the casing, and the blower device is arranged at the other end of the casing, so that external air can be blown to the protective cover through the blower device.
The unmanned aerial vehicle according to claim 24, characterized in that:

The housing includes a tapered portion, the protective cover is disposed at one end of the tapered portion with a small cross-sectional area, and the blower device is disposed at the end of the tapered portion with a large cross-sectional area.
The unmanned aerial vehicle according to claim 1, characterized in that:

The air blowing device is a fan.
The unmanned aerial vehicle according to claim 26, characterized in that:

The fan is a ducted exhaust fan.
The unmanned aerial vehicle according to claim 1, comprising:

body;

an arm connected to the fuselage;

a spraying device for spraying liquid/gas arranged on the fuselage or the arm;

The casing is arranged on the fuselage or the machine arm.
The unmanned aerial vehicle according to claim 28, characterized in that:

In the flying state and when the spraying device sprays liquid/gas, the protective cover opens the shooting window by virtue of the pressure of the gas blown by the blowing device.
The unmanned aerial vehicle according to claim 28, characterized in that:

The liquid/gas is agricultural medicine.
A method for controlling an unmanned aerial vehicle, comprising:

Obtain the flight status of the UAV; and

According to the flight state of the unmanned aerial vehicle, control the working state of the blower device or/and the active state of the protective cover;

Wherein, in the landing state, the protective cover closes the shooting window, and the blowing device is closed; in the flying state, the protective cover opens the shooting window, and the blowing device is turned on.
The control method of an unmanned aerial vehicle according to claim 31, characterized in that:

controlling the working state of the blower device according to the active state of the protective cover;

Wherein, when the movable state of the protective cover is in the closed state, the blower device is controlled to be closed; when the movable state of the protective cover is in the open state, the blower device is controlled to be opened.
The control method of an unmanned aerial vehicle according to claim 31, characterized in that:

controlling the activity state of the protective cover according to the working state of the blowing device;

Wherein, when the blowing device is in the closed state, the protective cover is controlled to close the shooting window; when the blowing device is in the open state, the protective cover is controlled to open the shooting window.