Aerial vehicle

1 . An aerial vehicle, comprising:

a fuselage;

a plurality of propellers coupled to the fuselage;

at least two front arms coupled to the fuselage, each front arm including a first end connected to the fuselage, and a second end connected to one of the plurality of propellers, and the second end being opposite to the first end;

at least two brackets connected in correspondence with the at least two front arms, each bracket including an end connected to the second end of the corresponding one front arm, and the at least two brackets being configured to support the aerial vehicle when the aerial vehicle is not taking off or is landed; and

a rear arm coupled to the fuselage, wherein a position where the rear arm is connected to the fuselage and a position where one of the at least two front arms is connected to the fuselage are staggered in a height direction of the fuselage, and when the aerial vehicle is upright and placed horizontally, the position where the rear arm is connected to the fuselage is higher than the position where the one of the at least two front arms is connected to the fuselage;

wherein:

the aerial vehicle has at least a taking off or landing state and a cruise state;

in response to the aerial vehicle being in the taking off or landing state, an angle between a longitudinal axis of the fuselage and a horizontal plane is within a first angular range;

in response to the aerial vehicle being in the cruise state, the angle between the longitudinal axis of the fuselage and the horizontal plane is within a second angular range, and a maximum value of the second angular range is less than a minimum value of the first angular range; and

in response to the aerial vehicle switching between the taking off or landing state and the cruise state, the fuselage and the plurality of propellers tilt as a whole.

2 . The aerial vehicle according to claim 1 , wherein the first angular range is from 30° to 90°, inclusive.

3 . The aerial vehicle according to claim 1 , wherein in response to the aerial vehicle switching to the cruise state, the at least two front arms are able to act as wings of a vertical take-off and landing fixed-wing aerial vehicle.

4 . The aerial vehicle according to claim 3 , wherein the rear arm is one of two rear arms, ends of the at least two front arms away from the fuselage and ends of the two rear arms away from the fuselage are provided with four visual sensors respectively, and each pair of shooting angles of the four visual sensors partially overlap and form a binocular vision module, so that the four visual sensors form four binocular vision modules.

5 . The aerial vehicle according to claim 4 , wherein each of the vision sensors is obliquely mounted on a corresponding arm so as to tilt an optical axis of each of the vision sensors relative to an axis of a motor on the corresponding arm.

6 . The aerial vehicle according to claim 4 , wherein the vision sensors comprise a first vision sensor disposed at an end of each of the at least two front arms away from the fuselage and a second vision sensor disposed at an end of each of the two rear arms away from the fuselage; and the first vision sensor has a shooting direction towards front of the fuselage and the second vision sensor has a shooting direction towards rear of the fuselage.

7 . The aerial vehicle according to claim 4 , wherein each of the vision sensors is obliquely mounted on a motor on a corresponding arm.

8 . The aerial vehicle according to claim 4 , wherein:

the visual sensors comprise a first visual sensor disposed at an end of each of the at least two front arms away from the fuselage and a second visual sensor disposed at an end of each of the two rear arms away from the fuselage; and

the first vision sensor is disposed below the end of each of the at least two front arms away from the fuselage, and the second vision sensor is disposed above the end of each of the two rear arms away from the fuselage.

9 . The aerial vehicle according to claim 4 , wherein:

the visual sensors comprise first visual sensors disposed at ends of the at least two front arms away from the fuselage and second visual sensors disposed at ends of the two rear arms away from the fuselage; and

the first vision sensors are symmetrically provided on both sides of the fuselage respectively and the second vision sensors are symmetrically provided on both sides of the fuselage respectively.

10 . The aerial vehicle according to claim 1 , further comprising a gimbal fixed to the fuselage for carrying a first load, the first load comprising at least a filming device.

11 . The aerial vehicle according to claim 1 , wherein:

the plurality of propellers comprise motors fixed to ends of corresponding arms away from the fuselage and paddles disposed on the motors, the motors being configured to drive the paddles to rotate, the motors comprising a first motor coupled to one end of each of the at least two front arms away from the fuselage and a second motor coupled to one end of the rear arm away from the fuselage, the paddles comprising a first paddle disposed on the first motor and a second paddle disposed on the second motor; and

when the aerial vehicle is at the cruise state, projections of paddle disks formed by rotation of the first paddle and the second paddle on the same side of the fuselage on a surface parallel to a paddle plane do not overlap.

12 . The aerial vehicle according to claim 11 , wherein the first paddle is mounted above the first motor and the second paddle is mounted below the second motor.

13 . The aerial vehicle according to claim 1 , wherein:

the at least two front arms are each pivotably connected to the fuselage, and the at least two brackets are pivotally connected to the corresponding one of the at least two front arms;

the at least two front arms are rotated relative to the fuselage and the at least two brackets are rotated relative to the at least two front arms to allow the aerial vehicle to be selectively in an unfolded state or a folded state;

in the unfolded state, the at least two front arms each form an angle with the fuselage, and the at least two brackets each form an angle with the corresponding one of the at least two front arms; and

in the folded state, the at least two front arms are affixed to the fuselage and the at least two brackets each are affixed to the corresponding one of the at least two front arms.

14 . The aerial vehicle according to claim 13 , wherein, in the folded state, the fuselage, the at least two front arms, and the at least two brackets are in a same lengthwise direction, the fuselage is in the lengthwise direction parallel to a direction of a line connecting a front end of the fuselage to a back end of the fuselage, and the at least two front arms and the at least two brackets are in the direction of their respective extensions.

15 . The aerial vehicle according to claim 14 , wherein:

in the folded state, each of the at least two front arms is affixed to a side wall of the fuselage on the corresponding side or each of the at least two front arms is affixed to the bottom of the fuselage.

16 . An unmanned aerial vehicle, comprising:

a fuselage;

two front arms and two rear arms, the two front arms being symmetrically connected to a front end of the fuselage and the two rear arms being symmetrically connected to a rear end of the fuselage, wherein each of the two rear arms is coupled to the fuselage, a position where one of the two rear arms is connected to the fuselage and a position where one of the two front arms is connected to the fuselage are staggered in a height direction of the fuselage, and when the aerial vehicle is upright and placed horizontally, the position where the one of the two rear arms is connected to the fuselage is higher than the position where the one of the two front arms is connected to the fuselage;

four propellers at ends of the two front arms away from the fuselage and ends of the two rear arms away from the fuselage respectively, each front arm including a first end connected to the fuselage, and a second end connected to one of the four propellers, and the second end being opposite to the first end;

two brackets connected in correspondence with the two front arms, each bracket including an end connected to the second end of the corresponding one front arm, and the two brackets being configured to support the aerial vehicle when the aerial vehicle is not taking off or is landed; and

four visual sensors at the ends of the two front arms away from the fuselage and the ends of the two rear arms away from the fuselage respectively;

wherein:

the unmanned aerial vehicle has at least a taking off or landing state and a cruise state;

in response to the unmanned aerial vehicle being in the taking off or landing state, an angle between a longitudinal axis of the fuselage and a horizontal plane is within a first angular range;

in response to the unmanned aerial vehicle being in the cruise state, the angle between the longitudinal axis of the fuselage and the horizontal plane is within a second angular range, and a maximum value of the second angular range is less than a minimum value of the first angular range;

in response to the unmanned aerial vehicle switching between the taking off or landing state and the cruise state, the fuselage and the four propellers tilt as a whole; and

each pair of shooting angles of the four visual sensors partially overlap and form a binocular vision module so that the four visual sensors form four binocular vision modules.

17 . The unmanned aerial vehicle according to claim 16 , wherein the vision sensors are obliquely mounted on corresponding arms so as to tilt optical axes of the vision sensors relative to axial directions of motors on the corresponding arms.

18 . The aerial vehicle according to claim 1 , further comprising:

a gimbal located at a lower rear end of the fuselage; and

a LIDAR or a first person view (FPV) shooting device located at a front end of the fuselage.

19 . An aerial vehicle, comprising:

a fuselage;

a plurality of propellers coupled to the fuselage;

at least two front arms coupled to the fuselage, each front arm including a first end connected to the fuselage, and a second end connected to one of the plurality of propellers, and the second end being opposite to the first end; and

at least two brackets connected in correspondence with the at least two front arms, each bracket including an end connected to the second end of the corresponding one front arm, and the at least two brackets being configured to support the aerial vehicle when the aerial vehicle is not taking off or is landed;

wherein:

the aerial vehicle has at least a taking off or landing state and a cruise state;

in response to the aerial vehicle being in the taking off or landing state, an angle between a longitudinal axis of the fuselage and a horizontal plane is within a first angular range;

in response to the aerial vehicle being in the cruise state, the angle between the longitudinal axis of the fuselage and the horizontal plane is within a second angular range, and a maximum value of the second angular range is less than a minimum value of the first angular range;

in response to the aerial vehicle switching between the taking off or landing state and the cruise state, the fuselage and the plurality of propellers tilt as a whole;

the at least two front arms are each pivotably connected to the fuselage, and the at least two brackets are pivotally connected to the corresponding one of the at least two front arms;

the at least two front arms are rotated relative to the fuselage and the at least two brackets are rotated relative to the at least two front arms to allow the aerial vehicle to be selectively in an unfolded state or a folded state;

in the unfolded state, the at least two front arms each form an angle with the fuselage, and the at least two brackets each form an angle with the corresponding one of the at least two front arms; and p 2 in the folded state, the at least two front arms are affixed to the fuselage and the at least two brackets each are affixed to the corresponding one of the at least two front arms.