The application relates to an aircraft, a method, an apparatus and a computer readable storage medium for controlling the aircraft with at least one sensor arranged thereon, the method including detecting a motor state of the aircraft, acquiring at least one sensing data of the at least one sensor, and controlling the aircraft to perform a startup operation or a shutdown operation according to the motor state and the at least one sensing data, so that the aircraft can be autonomously controlled to perform the startup operation or the shutdown operation, and the user experience is improved.

A wing mounting, comprising: ⋅a base (11); ⋅a wing bracket (25) pivotally mounted to the base, configured to rotate relative to the base within an operational angular range; and ⋅at least one biasing element configured to bias the wing bracket away from the boundaries of the operational angular range, wherein the at least one biasing element (120) is configured to bias the wing bracket within a biasing range adjacent the respective boundaries of the operational angular range, but substantially not to bias the wing bracket within an inner angular range including the middle of the operational angular range.

A thrust generator comprising: a motor (17), and a wing mounting (10), comprising a base (11) and a wing (2, 20), the base connected to the motor and configured to rotate the wing mounting about a stroke axis (13) within an angular stroke range, wherein the wing comprises a wing panel (24) having a first longitudinal edge (5) and a second longitudinal edge (6), the wing panel defining a wing surface (4) between the first and second longitudinal edges, and wherein the wing panel is configurable between: a first configuration in which the first longitudinal edge of the wing panel defines a leading edge and the second longitudinal edge of the wing panel defines a trailing edge; and a second configuration in which the second longitudinal edge of the wing panel defines a leading edge and the first longitudinal edge of the wing panel defines a trailing edge, the thrust generator being configured to rotate the wing mounting about the stroke axis in a first direction when the wing panel is in the first configuration and to rotate the base about the stroke axis in a second direction when the wing panel is in the second configuration.

An aerial reconnaissance drone having a dragonfly format (elongate fuselage and flapping wings) with two cameras having respective diagonal fields of view, arranged at respective ends of the fuselage, both pointing forwards, wherein the second camera has a diagonal fielder of view that is at most half that of the first camera. This has the advantage of providing a drone that can capture enhanced imagery when required, by performing a half turn and switching which camera is being used. Since this avoids placing two cameras in the same location both can have a clear view of surroundings yet it helps avoid off balance caused by placing too much mass in any particular off-centre location.

An aerial reconnaissance drone having a dragonfly format (elongate fuselage and flapping wings) with two cameras having respective diagonal fields of view, arranged at respective ends of the fuselage, both pointing forwards, wherein the second camera has a diagonal fielder of view that is at most half that of the first camera. This has the advantage of providing a drone that can capture enhanced imagery when required, by performing a half turn and switching which camera is being used. Since this avoids placing two cameras in the same location both can have a clear view of surroundings yet it helps avoid off balance caused by placing too much mass in any particular off-centre location.

A pull cord type turning mechanism for a butterfly-inspired flapping-wing aerial robot includes a motor, a cord reel, a cord reel gear, a potentiometer gear, a potentiometer, a control module, and a power supply. The control module is connected to the motor and the potentiometer. A rotary shaft of the motor is connected to the cord reel, the cord reel is coaxially connected to the cord reel gear, the cord reel gear is meshed with the potentiometer gear, and the potentiometer gear is connected to a rotary shaft of the potentiometer. The cord reel gear is provided with two cord grooves and two pull cords. One ends of the two pull cords are fixed in the two cord grooves, respectively, and the other ends thereof are fixed at the tips of front wings of two sides of the butterfly-inspired flapping-wing aerial robot, respectively.

Robotic wings for an aerial drone include a plurality of armwing structures, each comprising a plurality of rigid members connected together by flexible living hinges in a single monolithic structure. Wing membranes are supported by the armwing structures. A drive mechanism is connected to the armwing structures for articulating the armwing structures. A motor is connected to the drive mechanism for actuating the drive mechanism to move the armwing structures through a series of wingbeats wherein the armwing structures expand in a downstroke and retract in an upstroke to move the wing membranes in a flapping motion.

A pull cord type turning mechanism for a butterfly-inspired flapping-wing aerial robot includes a motor, a cord reel, a cord reel gear, a potentiometer gear, a potentiometer, a control module, and a power supply. The control module is connected to the motor and the potentiometer. A rotary shaft of the motor is connected to the cord reel, the cord reel is coaxially connected to the cord reel gear, the cord reel gear is meshed with the potentiometer gear, and the potentiometer gear is connected to a rotary shaft of the potentiometer. The cord reel gear is provided with two cord grooves and two pull cords. One ends of the two pull cords are fixed in the two cord grooves, respectively, and the other ends thereof are fixed at the tips of front wings of two sides of the butterfly-inspired flapping-wing aerial robot, respectively.

A flapping-wing aircraft includes a support frame, a motor coupled to the support frame, a pair of wings coupled to the support frame, and a linkage assembly coupled to the support frame and configured to translate an output torque of the motor into flapping motion of the wings, wherein the linkage assembly includes a first link coupled to a rotational output of the motor, a second link pivotably coupled to the first link at a first pivot joint, a third link pivotably coupled to the second link at a second pivot joint, and a fourth link pivotably coupled to the support frame and slidably coupled to the third link, and wherein the fourth link is coupled to a first wing of the pair of wings.

A rigid-flexible coupled unmanned aerial vehicle (UAV) morphing wing and an additive manufacturing method thereof are disclosed. A shape memory alloy (SMA) strip/wire for controlling the wing upward deformation and an SMA strip/wire for controlling the wing downward deformation are arranged alternately, and a plurality of reinforcing ribs are arranged at intervals on the SMA strips/wires for controlling the wing upward deformation and the SMA strips/wires for controlling the wing downward deformation. The SMA strips/wires for controlling the wing upward deformation and the SMA strips/wires for controlling the wing downward deformation are arranged on a flexible substrate, and are wrapped with an insulating covering. The SMA strips/wires for controlling the wing upward deformation and the SMA strips/wires for controlling the wing downward deformation each are provided with an electric heating element.