An unmanned aerial vehicle includes a central body and a plurality of arms extendable from the central body. Each of the plurality of arms is configured to support one or more propulsion units. Each of the plurality of arms is configured to transform between (1) a flight configuration in which the arm is extending away from the central body and (2) a compact configuration in which the arm is folded against the central body. At least one of the plurality of arms is configured to rotate about a first rotational axis and at least a portion of the at least one of the plurality of arms is configured to rotate about a second rotational axis not parallel to the first rotational axis.

A flapping wing driving apparatus includes at least one crank gear capstan rotatably coupled to a crank gear, the at least one crank gear capstan disposed radially offset from a center of rotation of the crank gear; a first wing capstan coupled to a first wing, the first wing capstan having a first variable-radius drive pulley portion; and a first drive linking member configured to drive the first wing capstan, the first drive linking member windably coupled between the first variable-radius drive pulley portion and one of the at least one crank gear capstan; wherein the first wing capstan is configured to non-constantly, angularly rotate responsive to a constant angular rotation of the crank gear.

A surveillance drone system is provided herein generally including an UAV, a base power station, and, a tether for connecting the UAV to the base power station to provide electrical power to the UAV when airborne. The base power station may include a cable take-up assembly for releasing and taking up the tether. A plug or power module is provided at the free end of the tether configured to be detachably coupled with the UAV, to transmit electrical power to, and, possibly, data to and from, the UAV. With the plug or power module being detached, the UAV is free to fly unrestricted. This arrangement allows for the UAV to be airborne for prolonged periods to allow for monitoring a region and for release to allow the UAV to investigate anomalies in the monitored region.

Embodiments of the present disclosure are directed to systems and methods for autonomously performing and/or facilitating drone diagnostic functions. Prior to a mission of a UAV, an inspection station comprising at least one imaging sensor and at least one directional force sensor may be used to perform a plurality of air worthiness inspections and/or maintenance checks with little to no human intervention. Once the UAV has been determined to be air worthy, it is approved for a subsequent mission.

The present invention provides a lens assembly and a mobile terminal. The lens assembly includes a lens and a protective casing. The lens and the protective casing are fixedly connected to the mobile terminal separately. The lens is sheathed in the protective casing. A spacing exists between the protective casing and the lens. In the lens assembly and the mobile terminal provided in this embodiment, when the lens assembly is impacted, the protective casing receives the impact first and is deformed. Without direct connection or contact between the lens and the protective casing, a force received by the protective casing will not be directly transmitted to the lens, and the lens will not be pressed to deform by the protective casing, thereby avoiding a circumstance in which the deformation of the lens makes the mobile terminal unable to accurately recognize an obstacle.

This invention discloses an aircraft control method, apparatus and an aircraft. The invention relates to the field of aircraft control technologies. The method includes: obtaining ambient luminance data by a luminance sensing apparatus of an aircraft; determining whether the ambient luminance data satisfies a luminance value required for normal running of a vision system of the aircraft; and adjusting, when the ambient luminance data does not satisfy the luminance value required for normal running of the vision system of the aircraft, a working status of a light emitting apparatus on the aircraft to change light emitting luminance of the light emitting apparatus. The foregoing aircraft control method, apparatus and the aircraft can accurately learn a flight environment in which the aircraft is located, thereby effectively implementing vision positioning on the aircraft and more conveniently controlling the aircraft.

A method for loading an Unmanned Aerial Vehicle with one or more items is disclosed. The method includes determining a weight and a Center of Gravity of each of a plurality of objects. The plurality of objects includes one or more of the Unmanned Aerial Vehicle, a container, one or more items to be delivered, and packaging for securing the one or more items to be delivered within one of the Unmanned Aerial Vehicle and the container. The method also includes optimizing a combined Center of Gravity of the plurality of objects for performing delivery by the Unmanned Aerial Vehicle.

A functionality utilizing a centrally controlled strategy for continuous communication to specific autonomous vehicles, or drones, that are designed for extreme conditions and assigned specific missions with the ability to be replaced during the mission. This functionality is an improvement on existing swarm and leader-follower tactics as it retains control of the drones at a central command center, allowing the drones to both receive individual commands from the hub but also operate independently of it with direct pilot control. This direct communication allows for real time process of ordered substitution to replace any drone during the mission.

A functionality utilizing a centrally controlled strategy for continuous communication to specific autonomous vehicles, or drones, that are designed for extreme conditions and assigned specific missions with the ability to be replaced during the mission. This functionality is an improvement on existing swarm and leader-follower tactics as it retains control of the drones at a central command center, allowing the drones to both receive individual commands from the hub but also operate independently of it with direct pilot control. This direct communication allows for real time process of ordered substitution to replace any drone during the mission.

The present disclosure provides an obstacle detection method. The method includes acquiring a first type of grid including obstacle indication information; determining a corresponding project position of the first type of grid in a first depth image; acquiring a first distance between a mobile platform and the corresponding projection position and a second distance between the mobile platform and an obstacle, the obstacle being the obstacle detected based on the first depth image; and updating the obstacle indication information of the first type of grid based on the first distance and the second distance.