Portable integrated UAV
阅读说明：本技术 便携式一体化uav (Portable integrated UAV ) 是由 邓雨眠 赵涛 于 2017-07-05 设计创作，主要内容包括：UAV被配置为具有带有狭窄主体的中央主体(110、410、510、610、710、910、1010、1110、1210、1310、1410、1510),并且设置有一个或多个推进单元(420)。在一些情况下,两个推进单元(420)被支撑在中央主体(110、410、510、610、710、910、1010、1110、1210、1310、1410、1510)的末端处。在一些实施例中,延伸部(650、750)被添加或者在便携式UAV周围移动以获得增加的功能性。延伸部(650、750)包括各种类型的降落架和支撑件、保护装备和/或支撑附加推进单元(420)的臂(1550)。UAV可以具有小的占位面积和减小的风阻。(The UAV is configured to have a central body (110, 410, 510, 610, 710, 910, 1010, 1110, 1210, 1310, 1410, 1510) with a narrow body and is provided with one or more propulsion units (420). In some cases, two propulsion units (420) are supported at the ends of a central body (110, 410, 510, 610, 710, 910, 1010, 1110, 1210, 1310, 1410, 1510). In some embodiments, extensions (650, 750) are added or moved around the portable UAV for increased functionality. The extension (650, 750) includes various types of drop frames and supports, protective equipment, and/or arms (1550) that support additional propulsion units (420). The UAV may have a small footprint and reduced wind resistance.)
1. An Unmanned Aerial Vehicle (UAV), comprising:
a central body having a transverse dimension substantially smaller than a vertical dimension; and
one or more propulsion units supported by the central body, wherein the one or more propulsion units include rotor blades configured to rotate to generate lift for the UAV.
2. The UAV of claim 1, wherein the lateral dimension is a width w of the central body, the vertical dimension is a height h of the central body, and a ratio h: w is greater than or equal to 2: 1.
3. The UAV of claim 2, wherein the central body further has a length I of the central body, and the ratio of l: w is greater than or equal to 2: 1.
4. The UAV of claim 2 wherein the width of the central body is sized small enough to reduce obstruction of downward airflow generated by the rotor blades.
5. The UAV of claim 1 wherein the transverse dimension is less than 3 cm.
6. The UAV of claim 1, further comprising an image capture device supported by the central body, and wherein the central body has a portable and ergonomic shape to allow handheld imaging.
7. The UAV of claim 6 wherein the image capture device is supported by the central body by means of a bearing that allows the image capture device to rotate relative to the central body about one or more axes.
8. The UAV of claim 1, wherein the transverse dimension is sized small enough to allow the UAV to land or take off from a user's hand while allowing the user's hand to grasp opposite sides of the central body.
9. The UAV of claim 1, wherein the vertical dimension is sized large enough to allow the UAV to land or takeoff from a user's hand when the user's hand is grasping opposite sides of the central body, wherein the user's hand is not in contact with the rotor blades.
10. The UAV of claim 1, wherein the central body is shaped to provide an air resistance in a flight direction that is less than a predetermined threshold.
11. The UAV of claim 1, wherein the one or more propulsion units are supported directly on the central body without using arms extending away from the central body.
12. A method for providing an Unmanned Aerial Vehicle (UAV), the method comprising:
providing a central body having a transverse dimension substantially smaller than a vertical dimension; and
one or more propulsion units are supported by the central body, wherein the one or more propulsion units include rotor blades configured to rotate to generate lift for the UAV.
13. The method of claim 12, wherein the lateral dimension is a width w of the central body, the vertical dimension is a height h of the central body, and a ratio of h: w is greater than or equal to 2: 1.
14. The method of claim 13, wherein the central body further has a length l of the central body, and a ratio of l to w is greater than or equal to 2 to 1.
15. The method of claim 13, wherein the width of the central body is sized small enough to reduce obstruction of downward airflow generated by the rotor blades.
16. The method of claim 12, wherein the lateral dimension is less than 3 cm.
17. The method of claim 12, further comprising providing an image capture device supported by the central body, and wherein the central body has a portable and ergonomic shape to allow handheld imaging.
18. The method of claim 17, wherein the image capture device is supported by the central body by means of a bearing that allows the image capture device to rotate about one or more axes relative to the central body.
19. The method of claim 12, wherein the transverse dimension is sized small enough to allow the UAV to land or take off from a user's hand while allowing the user's hand to grasp opposite sides of the central body.
20. The method of claim 12, wherein the vertical dimension is sized large enough to allow the UAV to land or take off from a user's hand when the user's hand is gripping opposing sides of the central body, wherein the user's hand is not in contact with the rotor blades.
21. The method of claim 12, wherein the central body is shaped to provide an air resistance in the direction of flight that is less than a predetermined threshold.
22. The method of claim 12, wherein the one or more propulsion units are supported directly on the central body without using arms extending away from the central body.
23. A kit for an Unmanned Aerial Vehicle (UAV), comprising:
a central body having a transverse dimension substantially smaller than a vertical dimension;
one or more propulsion units configured to be supported by the central body, wherein the one or more propulsion units include rotor blades configured to rotate to generate lift for the UAV; and
instructions for assembly or operation of the UAV.
24. The kit of claim 23, wherein the transverse dimension is a width w of the central body, the vertical dimension is a height h of the central body, and a ratio of h: w is greater than or equal to 2: 1.
25. The kit of claim 24, wherein the central body further has a length l of the central body, and the ratio of l: w is greater than or equal to 2: 1.
26. The kit of claim 24, wherein the width of the central body is sized small enough to reduce obstruction of downward airflow by the rotor blades.
27. The kit of claim 23, wherein the transverse dimension is less than 3 cm.
28. The kit of claim 23, further comprising an image capture device supported by the central body, and wherein the central body has a portable and ergonomic shape to allow handheld imaging.
29. The kit of claim 28, wherein the image capture device is supported by the central body by means of a bearing that allows the image capture device to rotate about one or more axes relative to the central body.
30. The kit of claim 23, wherein the transverse dimension is sized small enough to allow the UAV to land or take off from a user's hand while allowing the user's hand to grasp opposite sides of the central body.
31. The kit of claim 23, wherein the vertical dimension is sized large enough to allow the UAV to land or take off from a user's hand when the user's hand is gripping opposing sides of the central body, wherein the user's hand is not in contact with the rotor blades.
32. The kit of claim 23, wherein the central body is shaped to provide an air resistance in the direction of flight that is less than a predetermined threshold.
33. The kit of claim 23, wherein the one or more propulsion units are supported directly on the central body without using arms extending away from the central body.
34. An Unmanned Aerial Vehicle (UAV), comprising:
a central body having a longitudinal axis extending along a length of the central body, wherein the length is greater than or equal to a width of the central body; and
at least two propulsion units supported at a tip of the central body along the longitudinal axis, wherein the propulsion units include rotor blades configured to rotate to generate lift for the UAV.
35. The unmanned aerial vehicle of claim 34, wherein a width of said central body is sized small enough to reduce obstruction of downward airflow generated by said rotor blades.
36. The UAV of claim 34, wherein one or more propulsion units are supported on the central body without using arms extending from the central body.
37. The unmanned aerial vehicle of claim 34, wherein said rotor blades are foldable.
38. The UAV of claim 37 wherein the rotor blades are folded into a compact configuration when the UAV is not in use and assume an extended configuration during flight of the UAV.
39. The unmanned aerial vehicle of claim 37, wherein said foldable rotor blades are configured to open due to centrifugal force when said rotor blades begin to move.
40. The unmanned aerial vehicle of claim 34, wherein an extent of the rotor blades of a first of the at least two propulsion units does not overlap an extent of the rotor blades of a second of the at least two propulsion units.
41. The UAV of claim 34, wherein an extent of a rotor blade of a first propulsion unit of the at least two propulsion units does overlap an extent of a rotor blade of a second propulsion unit of the at least two propulsion units.
42. The UAV of claim 41 wherein rotations of rotor blades of the first and second propulsion units are controlled so as not to collide with each other.
43. The UAV of claim 34, further comprising one or more actuators configured to adjust an orientation of at least one of the propulsion units relative to the central body.
44. The UAV of claim 43, wherein the one or more actuators are one or more servomotors.
45. The UAV of claim 43, wherein the at least one propulsion unit is configured to rotate about a longitudinal axis extending along a length of the central body.
46. The UAV of claim 43 wherein said at least one propulsion unit is rotatable about two orthogonal axes.
47. The unmanned aerial vehicle of claim 43, wherein said one or more rotor blades remain parallel to each other.
48. The unmanned aerial vehicle of claim 43, wherein said one or more rotor blades are at an oblique angle relative to each other.
49. The UAV of claim 43, wherein an orientation of the at least one propulsion unit is adjusted to counteract external disturbance forces.
50. The UAV of claim 43, wherein the at least one propulsion unit is oriented to tilt the central body to harness lift generated from wind.
51. The UAV of claim 34, further comprising one or more actuators configured to move at least one of the propulsion units in translation relative to the central body.
52. The UAV of claim 51, wherein the one or more actuators are one or more servomotors.
53. The unmanned aerial vehicle of claim 34, wherein a rotational speed of a rotor blade of a first of the at least two propulsion units is independent of a rotational speed of a rotor blade of a second of the at least two propulsion units.
54. A method for providing an Unmanned Aerial Vehicle (UAV), the method comprising:
providing a central body having a longitudinal axis extending along a length of the central body, wherein the length is greater than or equal to a width of the central body; and
supporting at least two propulsion units at a tip of the central body along the longitudinal axis, wherein the propulsion units include rotor blades configured to rotate to generate lift for the UAV.
55. The method of claim 54, wherein the width of the central body is sized small enough to reduce obstruction of downward airflow generated by the rotor blades.
56. The method of claim 54, wherein one or more propulsion units are supported on the central body without using arms extending from the central body.
57. The method of claim 54 wherein the rotor blades are foldable.
58. The method of claim 57, wherein the rotor blades are folded into a compact configuration when the UAV is not in use and are in an extended configuration during flight of the UAV.
59. The method of claim 57 wherein said foldable rotor blades are configured to open due to centrifugal force when said rotor blades begin to move.
60. The method according to claim 54, wherein a range of rotor blades of a first propulsion unit of the at least two propulsion units does not overlap a range of rotor blades of a second propulsion unit of the at least two propulsion units.
61. The method according to claim 54, wherein the extent of the rotor blades of a first propulsion unit of the at least two propulsion units does overlap the extent of the rotor blades of a second propulsion unit of the at least two propulsion units.
62. The method according to claim 61, wherein the rotation of the rotor blades of the first propulsion unit and the rotor blades of the second propulsion unit are controlled such that they do not collide with each other.
63. The method of claim 54, further comprising providing one or more actuators configured to adjust an orientation of at least one of the propulsion units relative to the central body.
64. The method of claim 63, wherein the one or more actuators are one or more servomotors.
65. The method of claim 63, wherein the at least one propulsion unit is configured to rotate about a longitudinal axis extending along a length of the central body.
66. The method of claim 63, wherein the at least one propulsion unit is rotatable about two orthogonal axes.
67. The method of claim 63 wherein said one or more rotor blades remain parallel to each other.
68. The method of claim 63 wherein said one or more rotor blades are at an oblique angle relative to each other.
69. The method of claim 63, wherein the orientation of the at least one propulsion unit is adjusted to counteract external disturbance forces.
70. The method of claim 63, wherein the at least one propulsion unit is oriented to tilt the central body to utilize lift generated from wind.
71. The method of claim 54, further comprising providing one or more actuators configured to move at least one of the propulsion units in translation relative to the central body.
72. The method of claim 71, wherein the one or more actuators are one or more servomotors.
73. The method according to claim 54, wherein a rotational speed of a rotor blade of a first propulsion unit of the at least two propulsion units is independent of a rotational speed of a rotor blade of a second propulsion unit of the at least two propulsion units.
74. A kit for an Unmanned Aerial Vehicle (UAV), comprising:
a central body having a longitudinal axis extending along a length of the central body, wherein the length is greater than or equal to a width of the central body;
at least two propulsion units configured to be supported at a tip of the central body along the longitudinal axis, wherein the propulsion units include rotor blades configured to rotate to generate lift for the UAV; and
instructions for assembly or operation of the UAV.
75. The kit of claim 74, wherein a width of the central body is sized small enough to reduce obstruction of downward airflow by the rotor blades.
76. The kit of claim 74, wherein one or more propulsion units are supported on the central body without using arms extending from the central body.
77. The kit of claim 74, wherein said rotor blades are foldable.
78. The kit of claim 77, wherein the rotor blades are folded into a compact configuration when the UAV is not in use and assume an extended configuration during flight of the UAV.
79. The kit of claim 77, wherein said foldable rotor blades are configured to open due to centrifugal force when said rotor blades begin to move.
80. The kit according to claim 74, wherein a range of rotor blades of a first propulsion unit of the at least two propulsion units does not overlap a range of rotor blades of a second propulsion unit of the at least two propulsion units.
81. The kit according to claim 74, wherein the extent of the rotor blades of a first propulsion unit of the at least two propulsion units does overlap the extent of the rotor blades of a second propulsion unit of the at least two propulsion units.
82. The kit according to claim 81, wherein the rotation of the rotor blades of the first propulsion unit and the rotor blades of the second propulsion unit are controlled such that they do not collide with each other.
83. The kit of claim 74, further comprising one or more actuators configured to adjust an orientation of at least one of the propulsion units relative to the central body.
84. The kit of claim 83, wherein the one or more actuators are one or more servomotors.
85. The kit of claim 83, wherein the at least one propulsion unit is configured to rotate about a longitudinal axis extending along a length of the central body.
86. The kit according to claim 83, wherein said at least one propulsion unit is rotatable about two orthogonal axes.
87. The kit of claim 83, wherein the one or more rotor blades remain parallel to each other.
88. The kit of claim 83, wherein the one or more rotor blades are at an oblique angle with respect to each other.
89. The kit of claim 83, wherein the orientation of the at least one propulsion unit is adjusted to counteract external disturbance forces.
90. The kit of claim 83, wherein the at least one propulsion unit is oriented to tilt the central body to utilize lift generated from wind.
91. The kit of claim 74, further comprising one or more actuators configured to move at least one of the propulsion units in translation relative to the central body.
92. The kit of claim 91, wherein the one or more actuators are one or more servomotors.
93. The kit according to claim 74, wherein a rotational speed of a rotor blade of a first propulsion unit of the at least two propulsion units is independent of a rotational speed of a rotor blade of a second propulsion unit of the at least two propulsion units.
94. An Unmanned Aerial Vehicle (UAV), comprising:
a central body; and
one or more propulsion units supported by the central body, wherein the one or more propulsion units include rotor blades configured to rotate to generate lift for the UAV; and
an image capture device, wherein the rotor blades are located above the image capture device during a first flight mode and the rotor blades are located below the image capture device during a second flight mode, wherein a transition between the first flight mode and the second flight mode is achieved by adjusting an orientation of the one or more propulsion units relative to the central body.
95. The UAV of claim 94, wherein the first flight mode is a downward aerial photography flight mode, the second flight mode is an upward aerial photography flight mode, and wherein the orientation of the central body is flipped between the downward aerial photography flight mode and the upward aerial photography flight mode.
96. The UAV of claim 94, wherein an orientation of the one or more propulsion units is adjusted during flight of the UAV by means of one or more actuators.
97. The unmanned aerial vehicle of claim 94, wherein said rotor blades are detachable from said unmanned aerial vehicle.
98. The unmanned aerial vehicle of claim 97, wherein said rotor blade is interchangeable with other types of rotor blades having different physical parameters.
99. The UAV of claim 94, wherein the UAV flies in a right-side-up configuration during a first flight mode and in an inverted configuration during a second flight mode.
100. The unmanned aerial vehicle of claim 94, wherein other types of rotor blades are configured to allow inverted flight of the unmanned aerial vehicle.
101. The unmanned aerial vehicle of claim 94, wherein said rotor blades are located above and below said central body.
102. A method for providing an Unmanned Aerial Vehicle (UAV), the method comprising:
providing a central body;
supporting one or more propulsion units by the central body, wherein the one or more propulsion units include rotor blades configured to rotate to generate lift for the UAV; and
providing an image capture device, wherein the rotor blades are located above the image capture device during a first flight mode and the rotor blades are located below the image capture device during a second flight mode, wherein transitioning between the first flight mode and the second flight mode is accomplished by adjusting an orientation of the one or more propulsion units relative to the central body.
103. The method of claim 102, wherein the first flight mode is a downward aerial photography flight mode, the second flight mode is an upward aerial photography flight mode, and wherein the orientation of the central body is flipped between the downward aerial photography flight mode and the upward aerial photography flight mode.
104. The method of claim 102, wherein the orientation of the one or more propulsion units is adjusted during flight of the UAV by means of one or more actuators.
105. The method of claim 102, wherein the rotor blade is detachable from the UAV.
106. The method according to claim 105, wherein the rotor blade is interchangeable with other types of rotor blades having different physical parameters.
107. The method of claim 102, wherein the UAV flies in a right-side-up configuration during a first flight mode and flies in an inverted configuration during a second flight mode.
108. The method of claim 102, wherein other types of rotor blades are configured to allow inverted flight of the UAV.
109. The method of claim 102 wherein the rotor blades are located above and below the central body.
110. A kit for an Unmanned Aerial Vehicle (UAV), comprising:
a central body;
one or more propulsion units configured to be supported by the central body, wherein the one or more propulsion units include rotor blades configured to rotate to generate lift for the UAV;
an image capture device, wherein the rotor blades are configured to be positioned above the image capture device during a first flight mode and the rotor blades are configured to be positioned below the image capture device during a second flight mode, wherein a transition between the first flight mode and the second flight mode is achieved by adjusting an orientation of the one or more propulsion units relative to the central body; and
instructions for assembly or operation of the UAV.
111. The kit of claim 110, wherein the first flight mode is a downward aerial photography flight mode, the second flight mode is an upward aerial photography flight mode, and wherein the orientation of the central body is flipped between the downward aerial photography flight mode and the upward aerial photography flight mode.
112. The kit of claim 110, wherein the orientation of the one or more propulsion units is adjusted during flight of the UAV by means of one or more actuators.
113. The kit of claim 110, wherein the rotor blades are detachable from the UAV.
114. The kit of claim 113, wherein the rotor blade is interchangeable with other types of rotor blades having different physical parameters.
115. The kit of claim 110, wherein the UAV flies in a right-side-up configuration during a first flight mode and in an inverted configuration during a second flight mode.
116. The kit of claim 110, wherein other types of rotor blades are configured to allow inverted flight of the UAV.
117. The unmanned aerial vehicle of claim 94, wherein said rotor blades are located above and below said central body.
118. An Unmanned Aerial Vehicle (UAV), comprising:
a central body;
one or more propulsion units supported by the central body, wherein the one or more propulsion units include rotor blades configured to rotate to generate lift for the UAV; and
an extension attachable and detachable from portions of the central body.
119. The unmanned aerial vehicle of claim 118, wherein a top portion of the central body is configured to receive the extension.
120. The unmanned aerial vehicle of claim 119, wherein the extension is configured to hold the rotor blade in place.
121. The unmanned aerial vehicle of claim 119, wherein the extension is configured to protect the rotor blade.
122. The unmanned aerial vehicle of claim 118, wherein a bottom portion of the central body is configured to receive the extension.
123. The unmanned aerial vehicle of claim 122, wherein said extension is configured to act as a landing gear for said unmanned aerial vehicle, said landing gear bearing the weight of said unmanned aerial vehicle when said unmanned aerial vehicle is not in flight.
124. The unmanned aerial vehicle of claim 122, wherein the unmanned aerial vehicle further comprises an image capture device supported by the central body.
125. The unmanned aerial vehicle of claim 124, wherein said extension is configured as a support for terrestrial-based photography by way of said image capture device.
126. The unmanned aerial vehicle of claim 124, wherein the extension is configured to protect the image capture device and/or a carrier configured to control an orientation of the image capture device relative to the central body.
127. The unmanned aerial vehicle of claim 124, wherein the extension is an extendable selfie stick configured to support the unmanned aerial vehicle.
128. The unmanned aerial vehicle of claim 118, wherein the extension is configured to be rotatable relative to the central body when attached thereto.
129. The unmanned aerial vehicle of claim 128, wherein the extension is configured to be rotatable relative to the central body when attached to a top or bottom surface of the central body.
130. The unmanned aerial vehicle of claim 128, wherein the extension is configured to be manually rotatable.
131. The unmanned aerial vehicle of claim 128, wherein the extension is configured to be automatically rotatable by means of one or more actuators.
132. The unmanned aerial vehicle of claim 131, wherein the extension is configured to rotate in response to a sensed condition.
133. The unmanned aerial vehicle of claim 132, wherein the extension is rotated to have a length extending perpendicular to a longitudinal axis of the central body when the unmanned aerial vehicle is about to land and is rotated to have a length extending parallel to the longitudinal axis when the unmanned aerial vehicle is in flight.
134. The unmanned aerial vehicle of claim 118, wherein the extension comprises one or more portions foldable relative to one another.
135. The unmanned aerial vehicle of claim 134, wherein the one or more foldable portions are configured to form a tripod.
136. The unmanned aerial vehicle of claim 134, wherein the one or more foldable portions are configured to form a landing gear.
137. The unmanned aerial vehicle of claim 134, wherein the one or more portions are configured to be manually collapsible.
138. The unmanned aerial vehicle of claim 134, wherein the one or more portions are configured to be automatically foldable by means of one or more actuators.
139. The unmanned aerial vehicle of claim 118, wherein the extension is configured to function as a selfie stick that a user can hold while an image capture device supported by the central body captures an image of the user.
140. The unmanned aerial vehicle of claim 139, wherein the image capture device is configured to be automatically controlled to focus on the user.
141. The unmanned aerial vehicle of claim 139, wherein the rotor blades are oriented to direct airflow toward the user to create a wind effect.
142. The unmanned aerial vehicle of claim 139, wherein one or more light sources are carried by the unmanned aerial vehicle and are for providing illumination to the user.
143. A method of providing an Unmanned Aerial Vehicle (UAV), the method comprising:
providing a central body; and
supporting, by the central body, one or more propulsion units along the longitudinal axis, wherein the one or more propulsion units include rotor blades configured to rotate to generate lift for the UAV; and
providing an extension that is attachable and detachable from portions of the central body.
144. The method of claim 143, wherein a top portion of the central body is configured to receive the extension.
145. The method of claim 144, wherein the extension is configured to hold the rotor blade in place.
146. The method according to claim 144, wherein the extension is configured to protect the rotor blade.
147. The method of claim 143, wherein a bottom portion of the central body is configured to receive the extension.
148. The method of claim 147, wherein the extension is configured to act as a landing gear for the UAV, the landing gear bearing the weight of the UAV when the UAV is not in flight.
149. The method of claim 147, wherein the UAV further comprises an image capture device supported by the central body.
150. The method of claim 149, wherein the extension is configured as a support for terrestrial-based photography with the image capture device.
151. The method of claim 149, wherein the extension is configured to protect the image capture device and/or a carrier configured to control an orientation of the image capture device relative to the central body.
152. The method of claim 149, wherein the extension is an extendable selfie stick configured to support the unmanned aerial vehicle.
153. The method of claim 143, wherein the extension is configured to be rotatable relative to the central body when attached thereto.
154. The method of claim 153, wherein the extension is configured to be rotatable relative to the central body when attached to a top or bottom surface of the central body.
155. The method of claim 153, wherein the extension is configured to be manually rotatable.
156. The method of claim 153, wherein the extension is configured to be automatically rotatable by means of one or more actuators.
157. The method of claim 156, wherein the extension is configured to rotate in response to a sensed condition.
158. The method of claim 157, wherein the extension is rotated to have a length extending perpendicular to a longitudinal axis of the central body when the UAV is about to land, and is rotated to have a length extending parallel to the longitudinal axis when the UAV is in flight.
159. The method of claim 143, wherein the extension comprises one or more portions that are foldable relative to each other.
160. The method of claim 159, wherein the one or more foldable portions are configured to form a tripod.
161. The method of claim 159, wherein the one or more foldable portions are configured to form a drop frame.
162. The method of claim 159, wherein the one or more portions are configured to be manually foldable.
163. The method of claim 159, wherein the one or more portions are configured to be automatically collapsible by means of one or more actuators.
164. The method of claim 143, wherein the extension is configured to function as a selfie stick that a user may hold while an image capture device supported by the central body captures an image of the user.
165. The method of claim 164, wherein the image capture device is configured to be automatically controlled to focus on the user.
166. The method of claim 164 wherein the rotor blades are oriented to direct airflow toward the user to create a wind effect.
167. The method of claim 164, wherein one or more light sources are carried by the UAV and used to provide illumination to the user.
168. A kit for an Unmanned Aerial Vehicle (UAV), comprising:
a central body;
one or more propulsion units configured to be supported by the central body, wherein the one or more propulsion units include rotor blades configured to rotate to generate lift for the UAV;
an extension attachable and detachable from portions of the central body; and
instructions for assembly or operation of the UAV.
169. The kit of claim 168, where a top portion of the central body is configured to receive the extension.
170. The kit of claim 169, wherein the extensions are configured to hold the rotor blades in place.
171. The kit of claim 169, wherein the extension is configured to protect the rotor blade.
172. The kit of claim 168, wherein a bottom portion of the central body is configured to receive the extension.
173. The kit of claim 172, wherein the extension is configured to act as a landing gear for the UAV, the landing gear bearing the weight of the UAV when the UAV is not in flight.
174. The kit of claim 172, wherein the UAV further comprises an image capture device supported by the central body.
175. The kit of claim 174, wherein the extension is configured as a support for terrestrial-based photography by way of the image capture device.
176. The kit of claim 174, wherein the extension is configured to protect the image capture device and/or a carrier configured to control an orientation of the image capture device relative to the central body.
177. The kit of claim 174, wherein the extension is an extendable self-timer stick configured to support the UAV.
178. The kit of claim 168, wherein the extension is configured to be rotatable relative to the central body when attached thereto.
179. The kit of claim 178, wherein the extension is configured to be rotatable relative to the central body when attached to a top or bottom surface of the central body.
180. The kit of claim 178, wherein the extension is configured to be manually rotatable.
181. The kit of claim 178, wherein the extension is configured to be automatically rotatable by means of one or more actuators.
182. The kit of claim 181, wherein the extension is configured to rotate in response to a sensed condition.
183. The kit of claim 182, wherein the extension is rotated to have a length extending perpendicular to a longitudinal axis of the central body when the UAV is about to land and is rotated to have a length extending parallel to the longitudinal axis when the UAV is in flight.
184. The kit of claim 168, wherein the extension comprises one or more portions that are foldable relative to one another.
185. The kit of claim 184, wherein the one or more foldable portions are configured to form a tripod.
186. The kit of claim 184, wherein the one or more foldable portions are configured to form a drop frame.
187. The kit of claim 184, wherein the one or more portions are configured to be manually foldable.
188. The kit of claim 184, wherein the one or more portions are configured to be automatically collapsible by means of one or more actuators.
189. The kit of claim 168, wherein the extension is configured to function as a selfie stick that a user may hold while an image capture device supported by the central body captures an image of the user.
190. The kit of claim 189, wherein the image capture device is configured to be automatically controlled to focus on the user.
191. The kit of claim 189, wherein the rotor blades are oriented to direct airflow toward the user to create a wind effect.
192. The kit of claim 189, wherein one or more light sources are carried by the UAV and are for providing illumination to the user.
193. An Unmanned Aerial Vehicle (UAV), comprising:
a central body having a longitudinal axis extending along a length of the central body;
one or more propulsion units, wherein the propulsion units include rotor blades configured to rotate to generate lift for the UAV; and
one or more airfoils configured to be detachably coupled to the central body along the longitudinal axis.
194. The unmanned aerial vehicle of claim 193, wherein a length of the central body is greater than or equal to a width of the central body.
195. The unmanned aerial vehicle of claim 193, wherein said one or more airfoils provide additional lift to said unmanned aerial vehicle.
196. The unmanned aerial vehicle of claim 193, wherein the central body comprises a flat surface and the one or more airfoils are substantially parallel to the flat surface.
197. The unmanned aerial vehicle of claim 193, wherein the central body comprises a flat surface and a flight direction of the unmanned aerial vehicle extends outward from the flat surface.
198. The unmanned aerial vehicle of claim 193, wherein an orientation of the one or more airfoils is adjustable during flight.
199. The unmanned aerial vehicle of claim 198, further comprising one or more actuators configured to effect adjustment of an orientation of the one or more airfoils during flight.
200. The unmanned aerial vehicle of claim 198, wherein an orientation of the one or more airfoils is adjusted to generate increased lift from an airflow.
201. A method for providing an Unmanned Aerial Vehicle (UAV), the method comprising:
providing a central body having a longitudinal axis extending along a length of the central body; and
supporting one or more propulsion units by the central body, wherein the one or more propulsion units include rotor blades configured to rotate to generate lift for the UAV; and
providing one or more airfoils configured to be detachably coupled to the central body along the longitudinal axis.
202. The method of claim 201, wherein the length of the central body is greater than or equal to the width of the central body.
203. The method of claim 201, wherein the one or more airfoils provide additional lift to the UAV.
204. The method of claim 201, wherein the central body includes a planar surface and the one or more airfoils are substantially parallel to the planar surface.
205. The method of claim 201, wherein the central body includes a flat surface and the flight direction of the UAV extends outward from the flat surface.
206. The method of claim 201, wherein the orientation of the one or more airfoils is adjustable during flight.
207. The method of claim 206, further comprising providing one or more actuators configured to effect adjustment of the orientation of the one or more airfoils during flight.
208. The method of claim 206, wherein the orientation of the one or more airfoils is adjusted to generate increased lift from the airflow.
209. A kit for an Unmanned Aerial Vehicle (UAV), comprising:
a central body having a longitudinal axis extending along a length of the central body;
one or more propulsion units, wherein the propulsion units include rotor blades configured to rotate to generate lift for the UAV;
one or more airfoils configured to be detachably coupled to the central body along the longitudinal axis; and
instructions for assembly or operation of the UAV.
210. The kit of claim 209, wherein the length of the central body is greater than or equal to the width of the central body.
211. The kit of claim 209, wherein the one or more airfoils provide additional lift to the UAV.
212. The kit of claim 209, wherein the central body comprises a flat surface and the one or more airfoils are substantially parallel to the flat surface.
213. The kit of claim 209, wherein the central body comprises a flat surface and the flight direction of the UAV extends outward from the flat surface.
214. The kit of claim 209, wherein the orientation of the one or more airfoils is adjustable during flight.
215. The kit of claim 214, further comprising one or more actuators configured to effect adjustment of the orientation of the one or more airfoils during flight.
216. The kit of claim 214, wherein the orientation of the one or more airfoil attachments is adjusted to generate increased lift from the airflow.
217. An Unmanned Aerial Vehicle (UAV), comprising:
a central body;
one or more propulsion units directly supported by the central body, wherein the propulsion units include rotor blades configured to rotate to generate lift for the UAV; and
one or more arms configured to be detachably coupled to the central body, wherein each of the one or more arms is configured to support one or more additional propulsion units.
218. The unmanned aerial vehicle of claim 217, wherein at least two propulsion units are directly supported by the central body without the use of arms extending from the central body.
219. The unmanned aerial vehicle of claim 218, wherein the central body comprises a longitudinal axis extending along a length of the central body, and the at least two propulsion units are supported along the longitudinal axis.
220. The unmanned aerial vehicle of claim 219, wherein the one or more additional propulsion units are not located on the longitudinal axis.
221. The unmanned aerial vehicle of claim 217, wherein at least two arms are configured to be detachably coupled to the central body.
222. The unmanned aerial vehicle of claim 217, wherein at least four arms are configured to be detachably coupled to the central body.
223. The unmanned aerial vehicle of claim 217, wherein the unmanned aerial vehicle is capable of flying when the one or more arms are not attached to the central body.
224. The unmanned aerial vehicle of claim 217, wherein the unmanned aerial vehicle is capable of flying while the one or more arms are attached to the central body.
225. A method for providing an Unmanned Aerial Vehicle (UAV), the method comprising:
providing a central body; and
supporting one or more propulsion units by the central body, wherein the one or more propulsion units include rotor blades configured to rotate to generate lift for the UAV; and
providing one or more arms configured to be detachably coupled to the central body, wherein each of the one or more arms is configured to support one or more additional propulsion units.
226. The method of claim 225, wherein at least two propulsion units are directly supported by the central body without using arms extending from the central body.
227. The method of claim 226, wherein the central body includes a longitudinal axis extending along a length of the central body, and the at least two propulsion units are supported along the longitudinal axis.
228. The method of claim 227, wherein said one or more additional propulsion units are not located on said longitudinal axis.
229. The method of claim 225, wherein at least two arms are configured to be detachably coupled to the central body.
230. The method of claim 225, wherein at least four arms are configured to be detachably coupled to the central body.
231. The method of claim 225, wherein the UAV is capable of flying when the one or more arms are not attached to the central body.
232. The method of claim 225, wherein the UAV is capable of flying while the one or more arms are attached to the central body.
233. A kit for an Unmanned Aerial Vehicle (UAV), comprising:
a central body;
one or more propulsion units directly supported by the central body, wherein the propulsion units include rotor blades configured to rotate to generate lift for the UAV;
one or more arms configured to be detachably coupled to the central body, wherein each arm of the one or more arms is configured to support one or more additional propulsion units; and
instructions for assembly or operation of the UAV.
234. The kit of claim 233, wherein at least two propulsion units are directly supported by the central body without using arms extending from the central body.
235. The kit of claim 234, wherein the central body includes a longitudinal axis extending along a length of the central body, and the at least two propulsion units are supported along the longitudinal axis.
236. The kit of claim 235, wherein the one or more additional propulsion units are not located on the longitudinal axis.
237. The kit of claim 233, wherein at least two arms are configured to be removably coupled to the central body.
238. The kit of claim 233, wherein at least four arms are configured to be removably coupled to the central body.
239. The kit of claim 233, wherein the UAV is capable of flying when the one or more arms are not attached to the central body.
240. The kit of claim 233, wherein the UAV is capable of flying while the one or more arms are attached to the central body.
Background
Unmanned Aerial Vehicles (UAVs) are used for aerial photography. Typically, UAVs are of the quad-gyroplane type, having four motors and rotor blade sets. The volume of a quad-rotorcraft UAV is typically quite large to support the motor. As the size of the quadrotors decreases, this may come at the cost of force efficiency, which quickly drains the battery and does not allow long flights.
Furthermore, when flying in the air, a conventional quadrotor may tilt the body forward, creating a reversal of the airfoil, resulting in a downward wind pressure. This results in an increase in drag force, which requires more force from the motor to counteract the drag force. This reduces battery life.
Disclosure of Invention
There is a need for an Unmanned Aerial Vehicle (UAV) that is both portable and provides stable flight. There is also a need for a UAV that reduces drag and provides extended battery life, allowing longer flight given the battery charge. Furthermore, there is a need for UAVs that are suitable for aerial photography and manual photography (such as self-timer photography).
Systems and methods for improving the flight of a portable UAV are provided. The UAV may be configured with a central body having a transverse dimension substantially smaller than a vertical dimension, and one or more propulsion units may be provided. In some cases, two propulsion units may be supported at the ends of a narrow central body. The UAV may have a small footprint and reduced wind resistance. In some embodiments, components may be added or moved around the portable UAV for increased functionality. UAVs can be used for aerial photography and land-based photography.
Aspects of the present invention relate to an Unmanned Aerial Vehicle (UAV) comprising: a central body having a transverse dimension substantially smaller than a vertical dimension; and one or more propulsion units supported by the central body, wherein the one or more propulsion units include rotor blades configured to rotate to generate lift for the UAV.
Further, aspects of the invention may relate to a method for providing an Unmanned Aerial Vehicle (UAV), the method comprising: providing a central body having a transverse dimension substantially smaller than a vertical dimension; and supporting one or more propulsion units by the central body, wherein the one or more propulsion units include rotor blades configured to rotate to generate lift for the UAV.
Additional aspects of the invention may relate to a kit for an Unmanned Aerial Vehicle (UAV), the kit comprising: a central body having a transverse dimension substantially smaller than a vertical dimension; one or more propulsion units configured to be supported by the central body, wherein the one or more propulsion units include rotor blades configured to rotate to generate lift for the UAV; and instructions for assembly or operation of the UAV.
Aspects of the invention may also include an Unmanned Aerial Vehicle (UAV) comprising: a central body having a longitudinal axis extending along a length of the central body, wherein the length is greater than or equal to a width of the central body; and at least two propulsion units supported at a tip of the central body along the longitudinal axis, wherein the propulsion units include rotor blades configured to rotate to generate lift for the UAV.
According to other aspects of the invention, a method for providing an Unmanned Aerial Vehicle (UAV) may be provided. The method may include: providing a central body having a longitudinal axis extending along a length of the central body, wherein the length is greater than or equal to a width of the central body; and supporting at least two propulsion units at a tip of the central body along the longitudinal axis, wherein the propulsion units include rotor blades configured to rotate to generate lift for the UAV.
Further, aspects of the invention may relate to a kit for an Unmanned Aerial Vehicle (UAV), the kit comprising: a central body having a longitudinal axis extending along a length of the central body, wherein the length is greater than or equal to a width of the central body; at least two propulsion units configured to be supported at a tip of the central body along the longitudinal axis, wherein the propulsion units include rotor blades configured to rotate to generate lift for the UAV; and instructions for assembly or operation of the UAV.
According to additional aspects of the invention, an Unmanned Aerial Vehicle (UAV) may comprise: a central body; and one or more propulsion units supported by the central body, wherein the one or more propulsion units comprise rotor blades configured to rotate to generate lift for the UAV; and an image capture device, wherein the rotor blades are located above the image capture device during a first flight mode and the rotor blades are located below the image capture device during a second flight mode, wherein a transition between the first flight mode and the second flight mode is achieved by adjusting an orientation of the one or more propulsion units relative to the central body.
Aspects of the invention may relate to a method for providing an Unmanned Aerial Vehicle (UAV), the method comprising: providing a central body; supporting one or more propulsion units by the central body, wherein the one or more propulsion units include rotor blades configured to rotate to generate lift for the UAV; providing an image capture device, wherein the rotor blades are located above the image capture device during a first flight mode and the rotor blades are located below the image capture device during a second flight mode, wherein transitioning between the first flight mode and the second flight mode is accomplished by adjusting an orientation of the one or more propulsion units relative to the central body.
Other aspects of the invention may relate to a kit for an Unmanned Aerial Vehicle (UAV), the kit comprising: a central body; one or more propulsion units configured to be supported by the central body, wherein the one or more propulsion units include rotor blades configured to rotate to generate lift for the UAV; an image capture device, wherein the rotor blades are configured to be positioned above the image capture device during a first flight mode and the rotor blades are configured to be positioned below the image capture device during a second flight mode, wherein a transition between the first flight mode and the second flight mode is achieved by adjusting an orientation of the one or more propulsion units relative to the central body; and instructions for assembly or operation of the UAV.
Additionally, aspects of the invention may provide an Unmanned Aerial Vehicle (UAV) comprising: a central body; one or more propulsion units supported by the central body, wherein the one or more propulsion units include rotor blades configured to rotate to generate lift for the UAV; and an extension that is attachable and detachable from portions of the central body.
According to aspects of the present invention, there may be provided a method for providing an Unmanned Aerial Vehicle (UAV), the method comprising: providing a central body; the central body supporting one or more propulsion units along the longitudinal axis, wherein the one or more propulsion units include rotor blades configured to rotate to generate lift for the UAV; and providing an extension that is attachable and detachable from portions of the central body.
Further, aspects of the invention may relate to a kit for an Unmanned Aerial Vehicle (UAV), the kit comprising: a central body; one or more propulsion units configured to be supported by the central body, wherein the one or more propulsion units include rotor blades configured to rotate to generate lift for the UAV; an extension attachable and detachable from portions of the central body; and instructions for assembly or operation of the UAV.
According to other aspects of the invention, an Unmanned Aerial Vehicle (UAV) may comprise: a central body having a longitudinal axis extending along a length of the central body; one or more propulsion units, wherein the propulsion units include rotor blades configured to rotate to generate lift for the UAV; one or more airfoils configured to be detachably coupled to the central body along the longitudinal axis.
Aspects of the invention may also relate to a method for providing an Unmanned Aerial Vehicle (UAV), the method comprising: providing a central body having a longitudinal axis extending along a length of the central body; supporting one or more propulsion units by the central body, wherein the one or more propulsion units include rotor blades configured to rotate to generate lift for the UAV; providing one or more airfoils configured to be detachably coupled to the central body along the longitudinal axis.
Further, aspects of the invention may relate to a kit for an Unmanned Aerial Vehicle (UAV), the kit comprising: a central body having a longitudinal axis extending along a length of the central body; one or more propulsion units, wherein the propulsion units include rotor blades configured to rotate to generate lift for the UAV; one or more airfoils configured to be detachably coupled to the central body along the longitudinal axis; and instructions for assembly or operation of the UAV.
Additional aspects of the invention may relate to an Unmanned Aerial Vehicle (UAV) comprising: a central body; one or more propulsion units directly supported by the central body, wherein the propulsion units include rotor blades configured to rotate to generate lift for the UAV; one or more arms configured to be detachably coupled to the central body, wherein each of the one or more arms is configured to support one or more additional propulsion units.
According to other aspects of the invention, a method for providing an Unmanned Aerial Vehicle (UAV) may be provided. The method may include: providing a central body; supporting one or more propulsion units by the central body, wherein the one or more propulsion units include rotor blades configured to rotate to generate lift for the UAV; providing one or more arms configured to be detachably coupled to the central body, wherein each of the one or more arms is configured to support one or more additional propulsion units.
Aspects of the invention may relate to a kit for an Unmanned Aerial Vehicle (UAV), the kit comprising: a central body; one or more propulsion units directly supported by the central body, wherein the propulsion units include rotor blades configured to rotate to generate lift for the UAV; one or more arms configured to be detachably coupled to the central body, wherein each arm of the one or more arms is configured to support one or more additional propulsion units; and instructions for assembly or operation of the UAV.
Other aspects and advantages of the present disclosure will become apparent to those skilled in the art from the following detailed description, wherein it is shown and described only exemplary embodiments of the disclosure, simply by way of illustration of the best mode contemplated for carrying out the disclosure. As will be realized, the disclosure is capable of other and different embodiments and its several details are capable of modifications in various obvious respects, all without departing from the disclosure. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.
Documents incorporated by reference herein
All publications, patents and patent applications mentioned in this specification are herein incorporated by reference to the same extent as if each individual publication, patent or patent application was specifically and individually indicated to be incorporated by reference. To the extent publications and patents or patent applications incorporated by reference contradict the disclosure contained in the specification, the specification is intended to supersede and/or take precedence over any such contradictory material.
Drawings
The novel features of the invention are set forth with particularity in the appended claims. A better understanding of the features and advantages of the present invention will be obtained by reference to the following detailed description that sets forth illustrative embodiments, in which the principles of the invention are utilized, and the accompanying drawings of which:
fig. 1 shows an example of an Unmanned Aerial Vehicle (UAV) according to an embodiment of the invention.
Figure 2 shows an example of a UAV having a possible internal layout according to an embodiment of the present invention.
Fig. 3 shows an example of wind effects on a UAV in accordance with an embodiment of the invention.
Fig. 4 shows an example of a UAV having an airfoil attachment in accordance with an embodiment of the present invention.
Fig. 5 shows an example of a UAV having a foldable propeller in accordance with an embodiment of the present invention.
Fig. 6 shows an example of a UAV having multiple mounting sites and extensions that may be attached or detached from the multiple mounting sites in accordance with an embodiment of the present invention.
Fig. 7 shows an example of how an extension may be attached to a UAV as a protective gear in accordance with an embodiment of the invention.
Fig. 8 shows an example of how an extension may be attached to a UAV as a landing gear in accordance with an embodiment of the present invention.
Fig. 9 shows an example of a collapsible drop frame according to an embodiment of the invention.
Fig. 10 shows an example of an extension that may be attached to a UAV as a tripod in accordance with an embodiment of the present invention.
Fig. 11 shows an example of an extension that may be attached to a UAV as a selfie stick, according to an embodiment of the invention.
Fig. 12 illustrates various ways in which a UAV may be held in accordance with an embodiment of the present invention.
Fig. 13 shows a hand held sling and phone holder according to an embodiment of the invention.
Fig. 14 shows an example of a UAV in reverse flight mode in accordance with an embodiment of the present invention.
Figure 15 shows an example of a UAV having one or more arm extensions supporting additional propellers, in accordance with an embodiment of the invention.
Fig. 16 is a schematic diagram of an example of a movable object including a carrier and a payload in accordance with an embodiment of the invention.
FIG. 17 is a schematic diagram of an example of a system for controlling a movable object according to an embodiment of the present invention.
Detailed Description
Systems, methods, and apparatus are provided for providing a portable Unmanned Aerial Vehicle (UAV). The UAV may traverse the environment by means of one or more propulsion units, such as propellers. UAVs can have a compact central body. The central body may have a transverse dimension that is substantially smaller than a vertical dimension. In some embodiments, the central body may have a width that is substantially less than the length. The propeller may be supported directly on the central body. In some embodiments, the two propellers may be supported at an end of the central body along a longitudinal axis of the central body.
The UAV may be configured to have reduced wind resistance. The narrow central body of the UAV may provide a reduced lateral footprint that may experience downward airflow from the propellers. This may require less energy input to the motor to sustain flight and provide extended battery life. During flight, the UAV can maneuver to use the central body as an airfoil, or may have an airfoil attachment that may increase the airfoil effect of the UAV body.
The UAV may have one or more mounting sites that may be configured to accept the extension. In some cases, the same extension may be attached to different mounting sites. Examples of extensions may include, but are not limited to, a drop frame, a propeller protector, an arm supporting one or more propellers, a tripod, a selfie stick, a handheld support, and/or a camera mount. The use of extensions may provide increased flexibility in how the UAV is used. For example, UAVs may be well suited for aerial photography and land-based photography.
Fig. 1 shows an example of an Unmanned Aerial Vehicle (UAV) according to an embodiment of the invention. View a shows a side view of the UAV, view B provides a top view of the UAV, view C shows an end view of the UAV, and view D shows an oblique view of the UAV.
UAV100 may include a
Any description herein of UAV100 may apply to any type of movable object, and vice versa. The movable object may be any object that is capable of moving within the environment. The movable object is capable of self-propulsion. The movable object can be capable of navigating any type of environment, such as air, land, water, and/or space. The movable object is capable of flying. The movable object may include one or more propulsion units that may facilitate movement of the movable object. The propulsion unit may enable the movable object to be self-propelled without human intervention. The propulsion unit may comprise actuators that may operate on electrical, magnetic, electromagnetic, chemical, biochemical, thermal, photovoltaic or any other type of energy. The movable object may have any of the characteristics as detailed elsewhere herein. The movable object may be a UAV. Any description herein of a movable object may apply to a UAV or any other type of movable object. Similarly, any description herein of a UAV may apply to any movable object or particular type of movable object.
The movable object can perform any type of movement. For example, the movable object can be translated about one, two, or three axes. The movable object can be rotated about one, two or three axes. The axes may be orthogonal to each other. The axes may include a yaw axis, a pitch axis, and/or a roll axis of the movable object.
The UAV may operate autonomously, semi-autonomously, or manually in response to input provided by a user via a remote terminal. In some cases, the user may operate the UAV in a direct manual manner, such that the UAV may respond directly to input provided by the UAV via the remote terminal. In some cases, the UAV may operate semi-autonomously. The UAV may fly in some manner or mode in response to input by the user via the remote terminal. In some cases, the UAV may fly in a fully autonomous manner without input via the remote terminal. UAVs may fly autonomously to perform a target or task. The UAV may or may not automatically avoid obstacles.
In some cases, a communication link may be established between the UAV and the remote terminal. The communication link may be a wireless communication link. The communication link may be a direct communication link or an indirect communication link. For example, direct communication (e.g., bluetooth, infrared, WiFi, etc.) may be provided between the UAV and the remote terminal. In some cases, indirect communication may be provided between the UAV and the remote terminal. Indirect communication may include communication over a network and/or through one or more intermediary devices. The communication may occur over a telecommunications network, a data network, a WAN, a LAN, or any other type of network. The communication may be through an intermediate device such as a satellite, a telecommunications tower, a router, or the like.
UAV100 may include a
The central body may have any form factor. In some embodiments, the central body may have one or more lateral dimensions, such as a length l and a width w. The central body may have a vertical dimension, such as a height h. In some embodiments, the central body may have a narrow shape. For example, the width of the central body may be less than the length of the central body. The width of the central body may be substantially less than the length of the central body. In some embodiments, the ratio l: w of the length of the central body to the width of the central body may be greater than or equal to about 3: 2, 2: 1, 3: 1, 4: 1, 5: 1, 6: 1, 7: 1, 8: 1, 9: 1, 10: 1, 12: 1, 15: 1, 20: 1, 30: 1, or 40: 1. The width of the central body may be small enough to reduce obstruction of the downward airflow generated by the rotor blades. In some embodiments, the width of the central body can be less than or equal to about 10cm, 7cm, 6cm, 5cm, 4cm, 3.5cm, 3cm, 2.5cm, 2cm, 1.5cm, 1.2cm, 1cm, 0.7cm, 0.5cm, 0.3cm, 0.1cm, 0.05cm, or 0.01 cm. In some embodiments, the width of the central body may be substantially less than the length of the rotor blades of the UAV's propellers. In some cases, the ratio of the length of the rotor blades of the propeller to the width of the central body may be greater than or equal to about 3: 2, 2: 1, 3: 1, 4: 1, 5: 1, 6: 1, 7: 1, 8: 1, 9: 1, 10: 1, 12: 1, 15: 1, 20: 1, 30: 1, or 40: 1.
The transverse dimension of the central body may be substantially smaller than the vertical dimension of the central body. In some embodiments, the width of the central body may be substantially less than the height of the central body. For example, the ratio h: w of the height of the central body to the width of the central body can be greater than or equal to about 3: 2, 2: 1, 3: 1, 4: 1, 5: 1, 6: 1, 7: 1, 8: 1, 9: 1, 10: 1, 12: 1, 15: 1, 20: 1, 30: 1, or 40: 1. In some cases, the length of the central body may or may not be less than the height of the central body. The length of the central body may or may not be greater than the height of the central body. In some cases, the ratio h: l of the height of the central body to the length of the central body can be greater than or equal to about 1: 10, 1: 9, 1: 8, 1: 7, 1: 6, 1: 5, 1: 4, 1: 3, 1: 2, 2: 3, 1: 1, 3: 2, 2: 1, 3: 1, 4: 1, 5: 1, 6: 1, 7: 1, 8: 1, 9: 1, 10: 1, 12: 1, 15: 1, 20: 1, 30: 1, or 40: 1. The ratio of the height of the central body to the length of the central body may be less than any of the provided ratio values, or fall within a range between any two of the provided ratio values. The longitudinal axis may extend along the length of the central body. The vertical axis may extend along the height of the central body.
The entire central body may be substantially portable. The length of the central body can be less than or equal to about 50cm, 40cm, 30cm, 25cm, 20cm, 17cm, 15cm, 14cm, 13cm, 12cm, 11cm, 10cm, 9cm, 8cm, 7cm, 6cm, 5cm, 4cm, 3.5cm, 3cm, 2.5cm, 2cm, 1.5cm, 1.2cm, 1cm, 0.7cm, 0.5cm, 0.3cm, 0.1cm, 0.05cm, or 0.01 cm. The length of the central body can be greater than any of the values provided herein, or fall within a range between any two of the values provided herein. The height of the central body can be less than or equal to about 50cm, 40cm, 30cm, 25cm, 20cm, 17cm, 15cm, 14cm, 13cm, 12cm, 11cm, 10cm, 9cm, 8cm, 7cm, 6cm, 5cm, 4cm, 3.5cm, 3cm, 2.5cm, 2cm, 1.5cm, 1.2cm, 1cm, 0.7cm, 0.5cm, 0.3cm, 0.1cm, 0.05cm, or 0.01 cm. The height of the central body can be greater than any of the values provided herein, or fall within a range between any two of the values provided herein. The maximum dimension (e.g., diagonal, diameter, length, width, or height) of the UAV may be less than or equal to any of the measurements provided herein. The central body may weigh less than or equal to about 5kg, 3kg, 2kg, 1.5kg, 1.2kg, 1kg, 0.8kg, 0.7kg, 0.6kg, 0.5kg, 0.4kg, 0.3kg, 0.25kg, 0.2kg, 0.15kg, 0.12kg, 0.1kg, 0.07kg, 0.05kg, 0.04kg, 0.03kg, 0.02kg, 0.01kg, 0.005kg, or 0.001 kg.
The central body may have any form factor. The central body may have a substantially vertically aligned flat body. The central body may be shaped to provide an air resistance in the direction of flight that is less than a predetermined threshold. The central body may be shaped to provide a high lift-to-drag ratio during flight. In some embodiments, the lift-to-drag ratio may be greater than or equal to about 0.5, 1, 1.5, 2, 2.5, 3, 4, 5, 6, 7, or 10 during normal flight. The central body may have a similar form factor (e.g., size or scale of dimensions) as a smartphone, tablet, or laptop computer. The central body may have a similar form factor to a vertically arranged book. The central body may have a generally rectangular prismatic shape. The corners of the central body may be sharp or may be rounded. The edges and/or sides of the central body may be sharp or may be rounded. The central body may fit ergonomically into a user's hand. The central body may be hand-held. The central body may be configured to be held by a single hand of a user. The user can easily grip the central body between the thumb and the fingers. The central body may have a portable and ergonomic shape that may allow handheld imaging with the aid of an imaging device supported by the central body.
The lateral dimensions (e.g., width, length) of the central body may be small enough to allow the UAV to land or takeoff from the user's hand, optionally while allowing the user's hand to grasp opposing sides of the central body. For example, the user may grasp the opposite side of the UAV in the user's hand, and then may release the UAV as it takes off the user's hand. The user may also catch a UAV that is landing and grasp the opposite side of the UAV when it has landed.
The vertical dimension of the central body may be large enough to allow the UAV to take off of or land on a user's hand without the user's hand contacting one or more rotor blades when the user's hand grips opposing sides of the central body. The vertical dimension of the central body may be greater than the length of the user's finger. The vertical dimension of the central body may be greater than the length of a user's fingers coupled with the portion of the palm that may be folded around the central body.
In some embodiments, the UAV may travel primarily in a direction along a longitudinal axis of the UAV. During normal flight, the UAV may fly in a direction along a longitudinal axis of the UAV. The UAV may fly in a direction of a narrow end of the central body opposite a wider side surface of the central body. This may provide reduced wind resistance caused by the narrow central body of the UAV. UAVs can also fly up and down. This may also provide reduced wind resistance caused by the narrow central body of the UAV.
UAV100 may include one or more propulsion units that may facilitate movement of the UAV. The propulsion unit may include one or
The one or
The propulsion unit may be supported by the
Any number of propulsion units may be provided on the UAV. The central body may directly support any number of propulsion units. In some embodiments, the central body may directly support one or more, two or more, three or more, four or more, five or more, six or more, eight or more, ten or more, or twenty or more propulsion units. The propulsion units may be arranged in a row along the longitudinal axis of the central body. In one example, two propulsion units may be provided. Each propulsion unit may be located at opposite ends along the longitudinal axis of the central body. The UAV may be a dual rotorcraft. A dual rotorcraft may have two propulsion units. In some embodiments, the dual rotorcraft may advantageously allow controlled and stable flight of the UAV by controlling the rotational angles and rotational speeds of the motors and propellers, where the rotational angles may be controlled by servo motors and the rotational speeds may be controlled by electronic speed control. This may provide an advantage over a quad-gyroplane, which may rely purely on the rotational speed of the motor to control the attitude and speed of the UAV, but with a relatively short flight time. The provided dual rotorcraft may provide increased flight times over a quad rotorcraft. Twin-rotor aircraft may also provide advantages over helicopters having a primary rotor that uses complex swashplates to tilt in various directions and a secondary rotor to balance the torque of the primary rotor, resulting in a very complex structure. A dual rotorcraft may provide a simplified structure that may provide stable flight relative to a helicopter. The twin rotorcraft may also provide a simplified structure that may allow the UAV to quickly and simply take off and/or land without any folding, expanding, and/or compacting steps.
In some embodiments, the orientation of one or more propulsion units can be adjusted relative to the central body. The orientation of one or more propulsion units may be adjusted manually or may be adjusted by means of one or
Adjustment of the orientation of the propulsion unit may allow for improved flight performance. In some embodiments, adjustment of the orientation of the propulsion unit may be provided to counteract external disturbance forces. Orientation of one or more propulsion units may occur to provide improved maneuverability of the UAV. In some cases, one or more propulsion units may be adjusted to tilt the central body to utilize the lift generated from the wind. One or more of the propulsion units may be adjusted to change the UAV between a right-side-up flight mode and an inverted flight mode.
In addition to or alternatively to adjusting the orientation of the propulsion units relative to the central body, the one or more actuators may be configured to move at least one of the propulsion units in a translational manner relative to the central body.
In some embodiments, one or
One or more actuators may control the orientation and/or translational position of the propulsion unit relative to the central body in response to one or more commands. The one or more commands may be generated by means of a flight controller onboard the UAV. The UAV may have multiple sets of actuators that may be controlled by flight controllers onboard the UAV. The first set of actuators may control rotation of the propeller relative to the propeller mount. The second set of actuators may control the rotation of the propulsion unit relative to the central body. The axes of rotation of the first set of actuators may be orthogonal to the axes of rotation of the second set of actuators. The rotation effected by the second set of actuators may cause a change in the orientation of the axis of rotation of the first set of actuators. The orientation of the propulsion unit may be adjusted during flight of the UAV. The orientation of the propulsion unit may be controlled in real time as needed to perform the desired flight maneuver.
The orientation of the propulsion units may be controlled independently of each other. For example, if two propulsion units are provided, their angle relative to the central body may be controlled independently of each other. Alternatively or additionally, the orientation of the propulsion units may be controlled together. In some embodiments, the orientation of the propulsion units may be maintained relative to each other such that they have the same angle relative to the central body. In some cases, one or more rotor blades may remain parallel to each other because the orientation of the propulsion unit may be controlled. In some cases, one or more rotor blades may be at an oblique angle with respect to each other.
The UAV may optionally support a
The one or more carriers may each support one or more payloads. In some embodiments, each carrier may support a payload. The carrier may bear the weight of the corresponding payload. The carrier may control the spatial deployment of the payload. The carrier may control the orientation of the payload with respect to the movable object. The carrier may control the orientation of the payload about the movable object about one axis, two axes, or three axes. The carrier may allow rotation of the payload about the movable object about one axis, two axes, or three axes. The axes may be orthogonal to each other. The axes may include a yaw axis, a pitch axis, and/or a roll axis of a payload supported by the corresponding bearing. The carrier may control the angle of rotation of the payload about: yaw axis only; only the pitch axis; roll axis only; a yaw axis and a pitch axis; a pitch axis and a roll axis; a roll axis and a yaw axis; or a yaw axis, a pitch axis and a roll axis.
Each carrier may be a pan-tilt. The pan-tilt can be a single axis pan-tilt, a double axis pan-tilt or a triple axis pan-tilt. The pan and tilt head may include a frame assembly and a motor assembly. The frame assembly may include one or more frame components that may rotate relative to each other and/or the movable body. In one example, the pan and tilt head assembly may include a first frame member that may support a payload. The payload may be rotatable relative to the first frame member or may be rotatable relative to the first frame member. The first frame member may be directly connected to the platform or may be supported by the second frame member. The first frame part may be rotatable relative to the second frame part. The second frame member may bear the weight of the first frame member. The second frame member may be directly connected to the platform or may be supported by the third frame member. The third frame member may bear the weight of the second frame member. The second frame part may be rotatable relative to the third frame part. The third frame member may carry the weight of the second frame member. Any number of additional frame components may be present.
The motor assembly may allow the frame assemblies to rotate relative to each other. For example, the first motor may allow the first frame assembly to rotate relative to the second frame assembly. The second motor may allow the second frame assembly to rotate relative to the third frame assembly. The third motor may allow the third frame assembly to rotate relative to the platform. Any number of motors may be provided. For example, one or more, two or more, three or more, four or more, five or more, six or more, or seven or more motors may be employed.
The pan/tilt head may include one or more sensors that may detect deployment and/or movement of one or more components of the pan/tilt head. For example, one or more sensors may be disposed on the frame assembly and/or one or more sensors may be disposed on the motor assembly. One or more sensors may be disposed on the first frame member, the second frame member, and/or the third frame member. One or more sensors may be disposed on or incorporated into the first, second, and/or third motors. One or more sensors may be provided on the payload itself. One or more sensors may be disposed on the movable object. The one or more sensors may include inertial sensors. The inertial sensors may include, but are not limited to, accelerometers, gyroscopes, magnetometers, or gravity-based sensors. The inertial sensor may detect the orientation of the respective component on which it is disposed about one axis, two axes, or three axes. The inertial sensors may detect movement of the respective component, such as linear velocity, angular velocity, linear acceleration, and/or angular acceleration of the respective component. Inertial sensors may be used to detect the manner in which the payload is oriented relative to a movable object or inertial reference frame (e.g., the environment). Inertial sensors may be used to detect how the payload moves relative to a movable object or inertial reference frame. The inertial sensor may be used to detect how the respective component supporting it is oriented relative to the movable object or inertial reference frame. The inertial sensor may be used to detect how the respective component supporting it moves relative to the movable object or inertial reference frame.
The payload may comprise a payload. The payload may include the payload without a carrier, or may include a carrier and a payload. The payload may include one or more sensors. Any sensor suitable for collecting environmental information may be used, including a location sensor (e.g., a Global Positioning System (GPS) sensor, a mobile device transmitter capable of location triangulation), a vision sensor (e.g., an imaging device capable of detecting visible, infrared, or ultraviolet light, such as a camera), a proximity sensor (e.g., an ultrasonic sensor, a lidar, a time-of-flight camera), an inertial sensor (e.g., an accelerometer, a gyroscope, an Inertial Measurement Unit (IMU)), an altitude sensor, a pressure sensor (e.g., a barometer), an audio sensor (e.g., a microphone), or a field sensor (e.g., a magnetometer, an electromagnetic sensor). Any suitable number and combination of sensors may be used, such as one, two, three, four, five or more sensors. Alternatively, data may be received from different types of sensors (e.g., two, three, four, five, or more types). Different types of sensors may measure different types of signals or information (e.g., position, orientation, velocity, acceleration, proximity, pressure, etc.) and/or utilize different types of measurement techniques to obtain data. For example, the sensors may include any suitable combination of active sensors (e.g., sensors that generate and measure energy from their own source) and passive sensors (e.g., sensors that detect available energy).
In one example, the payload may be an imaging device. The imaging device may be a physical imaging device. The imaging device may be configured to detect electromagnetic radiation (e.g., visible light, infrared light, and/or ultraviolet light) and generate image data based on the detected electromagnetic radiation. In some embodiments, the payload may be a camera. The payload may be a camera that images the environment anywhere along the electromagnetic spectrum. For example, the payload may be a visible light camera. The payload may be an infrared camera. The payload may be an ultraviolet camera. The camera may be a night vision camera. The payload may be a camera that may sense and visualize vibration, sound, reflected light, radiation, or any other condition of the environment that may be visualized.
The imaging device may include a Charge Coupled Device (CCD) sensor or a Complementary Metal Oxide Semiconductor (CMOS) sensor that generates an electrical signal in response to the wavelength of light. The resulting electrical signals may be processed to generate image data. The image data generated by the imaging device may include one or more images, which may be static images (e.g., photographs), dynamic images (e.g., videos), or suitable combinations thereof. The image data may be multi-colored (e.g., RGB, CMYK, HSV) or monochrome (e.g., grayscale, black and white, brown). The imaging device may include a lens configured to direct light onto the image sensor. UAVs can be used for aerial photography with the payload.
In some embodiments, the imaging device may be a camera. The camera may be a motion picture camera or a video camera that captures dynamic image data (e.g., video). The camera may be a still camera that captures still images (e.g., photographs). The camera can capture dynamic image data and still images. The camera can switch between capturing dynamic image data and still images. Although certain embodiments provided herein are described in the context of a camera, it should be understood that the present disclosure may be applied to any suitable imaging device, and any description herein with respect to a camera may also be applied to other types of imaging devices. A camera may be used to generate 2D images of a 3D scene (e.g., an environment, one or more objects, etc.). The image produced by the camera may represent a projection of the 3D scene onto a 2D image plane. Thus, each point in the 2D image corresponds to a 3D spatial coordinate in the scene. The camera may include optical elements (e.g., lenses, mirrors, filters, etc.). The camera may capture color images, grayscale images, infrared images, and the like. When the camera is configured to capture infrared images, the camera may be a thermal imaging device.
The payload may be transmitted into the environment. For example, the payload may include a microphone that may emit sound into the environment. The payload may include a light source that may emit light into the environment. The transmission may be directed. For example, having a UAV with multiple tripod heads may be useful when one of the payloads is a light source and the other payload is a visible light camera, particularly when the UAV is flying at night or in low-light areas (e.g., indoors, in caves, cave sinks, etc.).
The payload may allow interaction with the environment. For example, the payload may include a robotic arm. The robotic arm is capable of grasping and/or picking up an object. Having a UAV with multiple bays can be useful when one of the payloads is a camera and the other payload is a robotic arm, particularly when the UAV is flying and interacting with the environment. The camera may detect objects for UAV pickup. This may be particularly useful in sample collection applications where UAVs with multiple holders may expand the collection range. In another example, the payload may be a delivery system that can spray objects (such as pesticides or water) when needed.
UAVs may be used for aerial photography and/or hand-held photography. The payload (such as a camera) may be configured to capture images while the UAV is in flight and while the UAV is held in the user's hand (or supported by an extension held by the user's hand).
The load may or may not be detachable from the UAV. The load may be automatically controlled in response to one or more commands generated by one or more processors onboard the UAV. The one or more processors may be disposed within the central body. The one or more processors may be part of the flight controller or may be in communication with the flight controller. The carrier and/or payload may be controlled in response to one or more commands from a processor onboard the UAV. In some embodiments, the load may be controlled in response to one or more commands provided by the remote terminal to the UAV. The remote terminal may be configured to accept user input that may generate one or more commands to control the payload. The carrier and/or payload may be controlled in response to user input at the remote terminal. The remote terminal may control the flight of the UAV and the loading of the UAV. Alternatively, different remote terminals may be used to control the flight of the UAV and the loading of the UAV.
Figure 2 shows an example of a UAV having a possible internal layout according to an embodiment of the present invention.
The UAV may include a
The camera module may include a payload such as a camera, or any other type of payload described elsewhere herein. The camera module may comprise a carrier, such as a pan-tilt head, as described elsewhere herein. The pan-tilt can be a single axis pan-tilt, a double axis pan-tilt or a triple axis pan-tilt. The payload may be supported by a carrier. The carrier may be used to control the orientation of the payload relative to the central body. For example, the carrier may be used to control the orientation of the camera relative to the central body.
The UAV may include one or more
The obstacle avoidance sensors may be placed at one or more, two or more, three or more, four or more, five or more, ten or more, or twenty or more different locations on the UAV. For example, the obstacle avoidance sensors may be disposed at opposite ends of the UAV central body. In some cases, the obstacle avoidance sensors may be disposed on opposite sides of the UAV central body. The obstacle avoidance sensors may be disposed on a top surface and/or a bottom surface of the UAV. The obstacle avoidance sensor is capable of detecting obstacles horizontally around the UAV in at least a 90 degree range, a 180 degree range, a 270 degree range, or a 360 degree range. The obstacle avoidance sensor is capable of detecting obstacles vertically around the UAV in at least a 90 degree range, a 180 degree range, a 270 degree range, or a 360 degree range.
The obstacle avoidance sensor may be integrated into the central body of the UAV, permanently attached to the central body, or may be removably attached to the central body. The obstacle avoidance sensor may be stationary relative to the central body or movable relative to the central body. Based on data collected by the obstacle avoidance sensor, the UAV is capable of obstacle avoidance maneuvers. The UAV may automatically perform obstacle avoidance maneuvers without any input from the user.
The UAV may include one or more propeller mounts 203. The propeller mount may include a motor configured to drive rotation of the one or
The
The orientation of the motor and/or propeller relative to the central body may be adjustable. In some embodiments, one or
In some embodiments, the orientation of each propeller mount and/or propeller may be controlled by a respective actuator. For example, the first actuator may maintain and/or change the orientation of the first propeller mount and the first propeller, while the second actuator may maintain and/or change the orientation of the second propeller mount and the second propeller. The orientation of each propeller seat and the corresponding propeller may be controlled independently of each other. Alternatively, they may be controlled together. For example, they may be controlled to have the same orientation. In some embodiments, a single actuator may control the orientation of multiple propeller mounts and corresponding propellers.
The orientation of the propulsion unit (e.g., propeller, motor, and/or propeller mount) may be controlled by controlling the ailerons or other aerodynamically curved surfaces. In addition to or instead of the control of the actuator, a control of the orientation based on the shape of the surface may be provided.
The UAV may also include one or more
Additionally, the UAV may also include a downward facing
A downward facing positioning system may be used to automatically identify the landing surface. The landing surface may be a ground structure (e.g., a building, a wall, a roof, a table, a pole, a fence, a landing pad, etc.), and/or a body part of the user (e.g., the user's hand). The positioning system may be used to identify the type and/or location of the landing surface. Data from the positioning system may be provided to the flight controller.
The flight controller may issue commands to motors that control the rotation of the propeller and/or actuators that control the orientation of the propeller. The flight controller may issue commands based on information from one or more sensors, such as obstacle avoidance sensors, position sensors, and/or a downward facing positioning system. In some cases, data from a downward facing positioning system may be used to control the flight of the UAV to land at a desired location on a landing surface. For example, the system may help guide a UAV landing on a user's hand.
A
The power source may provide power to one or more components of the UAV. For example, the power source may provide power to the camera module, one or more sensors (e.g., obstacle avoidance sensors, position sensors, a downward facing positioning system), one or more actuators (e.g., a motor controlling rotation of a propeller, a motor controlling orientation of a propeller), a communications system, a navigation system, a flight controller, or any other component of the UAV.
In some embodiments, the UAV is capable of flying at least 5 minutes, 10 minutes, 15 minutes, 20 minutes, 30 minutes, 45 minutes, 1 hour, 1.5 hours, 2 hours, 3 hours, 4 hours, 5 hours, 6 hours, or 10 hours after a single charge of the power source. The configuration of the central body may help to reduce drag, which may save energy, and provide extended flight times for a single charge.
The UAV may include a
An antenna 210 (such as a vertical type antenna) may be provided to be carried on the UAV. The antenna is capable of receiving and/or transmitting omni-directional signals. Alternatively, the antenna may be a directional antenna that may receive and/or transmit stronger signals in a particular direction than in other directions. The antenna may have a long transmission distance. The antenna may allow the UAV to communicate directly with a user device (such as a mobile device with a mobile application). Alternatively, indirect communication may be provided between the UAV and the user device.
Optionally, the UAV may include a
The UAV may include one or more processors that may execute code, logic, or instructions for performing one or more steps. The one or more processors may receive information from one or more components onboard the UAV and/or one or more devices away from the UAV. For example, one or more sensors, modules, payloads, carriers, actuators, motors, power sources, and/or communication units may provide information to one or more processors of the UAV. The one or more remote terminals may provide information that may be received by the UAV and ultimately received by one or more processors of the UAV. The one or more processors may generate one or more sets of instructions or commands for one or more components of the UAV. For example, commands may be sent to one or more motors that control rotation of a propeller of the UAV, one or more actuators that control orientation of one or more propellers of the UAV, one or more bearings that may affect orientation of a payload of the UAV, one or more payloads that may affect operation of the payload, one or more sensors that may affect operation of the sensors, and/or one or more communication units that may enable operation of the communication unit or data sent via the communication unit. The command may be generated based on the received information. The one or more processors may function as a flight controller, a load controller, or any combination thereof.
The UAV may include one or more memory storage units comprising a non-transitory computer-readable medium comprising code, logic, or instructions for performing one or more steps.
Fig. 3 shows an example of wind effects on a UAV in accordance with an embodiment of the invention. UAVs may be configured with a narrow central body, which may reduce the undesirable effects of wind on the UAV.
View a shows an example of a conventional quad-
During flight of the narrow-subject UAV310, the effects of wind drag may be reduced. For example, when the UAV ascends into the air, the stenotic body provides a reduced surface area that may be in the direction of flight. The narrow body also reduces the obstruction to the downward airflow generated by the rotor blades. Similarly, when the stenotic subject UAV flies forward or backward, the volume of the area facing the wind is small. The UAV may fly primarily forward or backward in a direction along a longitudinal axis of the UAV. The UAV may fly forward or backward primarily in directions such that the propulsion units directly supported by the UAV are in front of and behind each other (e.g., aligned in a direction of travel). Thus, the reduced wind resistance experienced by UAVs with narrow subjects may allow for longer flight times of the UAV.
The narrow body UAV may experience less wind resistance than a quad-gyroplane. The stenotic host UAV may experience less wind resistance when flying in a vertical direction than a quad-gyroplane. The stenotic host UAV may experience less wind resistance when flying forward or backward than a quad rotorcraft. The wind resistance experienced by the stenotic host UAV may be less than the wind resistance experienced by a quad-gyroplane per volume. The wind resistance experienced by the stenotic host UAV may be less than the wind resistance experienced by a quad-gyroplane per weight.
View B shows an example of an airfoil type effect that a UAV may experience. Conventional quad-
The narrow body UAV310 may operate as a positive type airfoil. This may allow for the generation of lift forces that may facilitate the flight of the UAV, and reduce the amount of energy required by the UAV during flight. When performing side-to-side flight, the narrow-body UAV may create an airfoil in a positive direction that produces a lift force similar to a lifting body. The load of the motor can be reduced and the flight time can be improved. In some embodiments, depending on wind conditions, the UAV may fly forward and backward to reduce wind resistance. When wind conditions favor the UAV as an airfoil, the UAV may turn such that the UAV may perform a lateral flight, allowing a wider side of the UAV to capture the wind. The UAV may carry one or more sensors capable of detecting when wind conditions are appropriate for side-to-side flight vs front-to-back flight. The UAV may carry one or more sensors capable of detecting the updraft. The UAV may carry one or more sensors capable of detecting the direction and/or intensity of the wind.
Fig. 4 shows an example of a UAV having an airfoil attachment in accordance with an embodiment of the present invention.
The
One or
The airfoil accessory may be removably attached to the UAV. For example, a user may attach and/or detach the wing attachment. The user may manually attach the wing attachment to the UAV or manually detach the wing attachment. The airfoil accessory may be fixed to the central body of the UAV such that the airfoil accessory does not detach during flight of the UAV. In some cases, one or more locking mechanisms may be employed to attach the wing attachment to the UAV. In some embodiments, the user may be required to actively understand the lock mechanism to detach the wing attachment from the UAV. In some embodiments, one or more sensors of the UAV may detect when the airfoil is attached to the UAV. When the airfoil is attached, the UAV may enter a fixed-wing flight mode. The flight control of the UAV may use a different set of instructions when in the fixed-wing flight mode as compared to the regular flight mode. Alternatively, there may be no sensor to detect whether an airfoil accessory is included. When airfoil attachments are provided, the UAV may or may not be controlled differently.
The airfoil attachments may have any shape. The airfoil accessory may have an airfoil shape. The airfoil shape may generate lift for the UAV when the UAV is flying. In some cases, the airfoil may have a substantially curved profile. The ends of the airfoil may or may not be curved. The airfoil may or may not include one or more ailerons. The airfoil accessory may or may not include one or more airfoils. The central body may include a planar surface, and the one or more airfoil attachments may be substantially parallel to the planar surface. The central body may include a planar surface, and the flight direction of the UAV may extend outward from the planar surface. For example, the direction of flight of the UAV may be substantially to one side of the UAV. This may be due to the combined effect of the rotation of the propeller and the lift generated on the central body and/or the wing attachment.
The angle of the airfoil shaped attachment relative to the central body may be substantially fixed. For example, the surfaces of the sides of the central body may be substantially parallel to and/or follow the contour of the airfoil surface.
In some cases, the airfoil attachments are movable relative to the central body. For example, the airfoil attachments may rotate about one, two, three, or more axes relative to the central body. In some embodiments, the airfoil accessory may rotate about a longitudinal axis extending along the length of the UAV. The airfoil accessory may or may not rotate about a vertical axis extending along the height of the UAV. The airfoil attachments may rotate together or may rotate independently of one another. In some embodiments, the airfoil accessory may be turned based on the angle at which the UAV is traveling to provide the desired lift effect. The wing attachment can be turned by means of one or more actuators. The actuator may receive one or more commands from the flight controller. The airfoil accessory may be turned during flight of the UAV. The airfoil attachment position can be adjusted in real time to provide the desired effect. For example, the orientation of one or more airfoil attachments may be adjusted during flight to generate increased lift from the airflow.
Optionally, one or more of the airfoil attachments may be movable relative to the central body. The wing attachment can be turned without the aid of an actuator. In some cases, the airfoil or portion thereof is movable (e.g., rotatable) relative to the body in response to forces of the experienced wind.
In some embodiments, when the UAV has an airfoil accessory disposed thereon, the UAV may function similar to a vertical takeoff and landing aircraft (VTOL). The airfoil attachment may improve lift and battery time. When the appendage acts as an airfoil, the appendage may increase the positive effect of the central body, which may improve lift and extend flight time. For example, the airfoil attachment may provide little wind resistance or drag when the UAV is vertically raised. The central body and airfoil attachments may act as airfoils providing lift to the UAV when the UAV is flying sideways.
Fig. 5 shows an example of a UAV having a foldable propeller in accordance with an embodiment of the present invention. The
The UAV may include a
The propulsion unit may include one or
The propeller blades may be fixed relative to each other. The propeller blades may be fixed relative to the shaft. Alternatively, the propeller blades can be moved relative to each other. The propeller blades are movable relative to the shaft. In some embodiments, the user may manually manipulate the propeller blades to adjust their position relative to each other. The propeller blades may be foldable. The user may manually fold the propeller blades. In some cases, the user may fold the propeller blades for storage. As shown on the left side of fig. 5, folding the propeller blades inward provides a more compact configuration. The user may fold the propeller blades and store the UAV in the user's pocket or bag. In some cases, the propeller blades may automatically fold when the UAV has landed or when the UAV is powered off.
The propeller blades may be deployed for flight of the UAV. In some cases, when a user is about to fly using the UAV, the user may manually deploy the propeller blades. In other cases, the propeller blades may self-deploy due to centrifugal force when the shaft supporting the blades begins to rotate. In other cases, the propeller blades may be deployed automatically by means of one or more actuators. The propeller blades may be automatically deployed when the UAV is ready for takeoff. The foldable propeller (e.g., rotor) blades may be folded into a compact configuration when the UAV is not in use, and may be in an extended configuration during flight of the UAV.
In some embodiments, the range of the propeller blades of the first propulsion unit may not overlap with the range of the propeller blades of the second propulsion unit. Thus, when the propeller blades are rotated, the areas covered in the rotation may not intersect each other. This may prevent the propeller blades from hitting each other during flight of the UAV. This may prevent propeller blades from different propulsion units from hitting each other, irrespective of the speed or orientation of the propeller blades. The distance between the shaft of the first propulsion unit and the shaft of the second propulsion unit may be greater than the length of the blades of the first propulsion unit plus the length of the blades of the second propulsion unit.
In other embodiments, the range of the propeller blades of the first propulsion unit may overlap with the range of the propeller blades of the second propulsion unit. When the propeller blades are rotated, the areas covered in the rotation may intersect each other. The rotation of the rotor blades of the first propulsion unit and the rotation of the rotor blades of the second propulsion unit may be controlled such that the rotor blades from different propulsion units do not collide with each other. In some cases, this may require some coordination in controlling the first and second propulsion units. The distance between the shaft of the first propulsion unit and the shaft of the second propulsion unit may be smaller than the length of the blades of the first propulsion unit plus the length of the blades of the second propulsion unit. This configuration may allow for a reduced central body size for a given propeller size.
In some cases, the rotor blades are detachable from the UAV. The rotor blades can be interchanged with other types of rotor blades having different physical parameters.
Fig. 6 shows an example of a UAV having multiple mounting sites and extensions that may be attached or detached from the multiple mounting sites in accordance with an embodiment of the present invention.
In some embodiments, the UAV may have multiple mounting sites. The UAV may have two or more, three or more, four or more, five or more, six or more, eight or more, or ten or more mounting sites. The mounting sites may be disposed on the same side of the UAV or on different sides. In some cases, the mounting sites may be disposed on opposite sides of the UAV. For example, the mounting sites may be disposed on the top and bottom surfaces of the UAV.
Each of the mounting sites may have the same configuration. Alternatively, one or more of the mounting sites may have a different configuration. Each of the mounting sites may receive the
The mounting site may or may not provide an electrical connection between the extension and the UAV. For example, power and/or data may flow from the UAV to an extension attached to the UAV. Power and/or data may or may not flow from the extension to the UAV. The mounting site may include one or more electrical contacts that may make contact with one or more electrical contacts loaded on the extension. This may allow the extension to have power to perform one or more actions. For example, the UAV may have a onboard power source that may provide power to the extension. Alternatively, the extension may have a onboard local power source, which may or may not provide power to the UAV, or which may be used to power the extension. In some embodiments, when the extension is attached to the UAV via the mounting site, power may flow from the UAV to the extension. The UAV may identify the extension attached and/or identify the type of extension. In some cases, the extension may send identification information to the UAV via the mounting site. When the extension receives power from the UAV, the extension may send data to the UAV regarding the presence of the extension and/or information regarding the type of extension or any other relevant data. In some embodiments, the UAV may include one or more sensors that may detect when the extension is attached to the UAV and/or identify the type of extension attached to the UAV. When the UAV identifies that an extension is attached and/or identifies the type of extension, the UAV may optionally send instructions that may affect the operation of the extension. Alternatively, the extension may operate independently without instructions from the UAV.
In some other cases, the connection may be a purely mechanical connection and no power is required for the extension.
The extension may serve the same purpose regardless of which mounting site it is attached to. Alternatively, the extension may serve different purposes depending on the mounting site to which it is attached. The same extension may serve different purposes when attached to different mounting sites. In one example, the extension may serve as a protective gear for the propeller when attached to the first mounting site and may serve as a landing gear when attached to the second mounting site, as described in more detail below. In alternative embodiments, different extensions may be attached to different mounting sites or the same mounting site for different purposes.
Fig. 7 shows an example of how an extension may be attached to a UAV as a protective gear in accordance with an embodiment of the invention.
The
When attached to a mounting site, the extension may serve as a protective equipment for the propeller of the UAV. The extension may be configured to hold the propeller blades in place. The extension may be configured to protect the propeller blades. The extension may serve as protective equipment when the UAV is not in flight. The extension may be used as protective equipment when transporting or storing the UAV. When the extension is attached as protective equipment, the propeller blades of the UAV may fold inward. The folding of the propeller blades may provide a compact arrangement for the UAV, and the protective equipment may protect the folded propeller blades. When the protective equipment is attached, the protective equipment may optionally prevent the folded propeller blades from swinging outwards. When the protective equipment is attached, the protective equipment may protect the propeller blades from damage (e.g., bending). Even if the UAV falls, the protective equipment may prevent the blades from contacting the ground or other surfaces and protecting them from damage. Similarly, if the UAV is transported, the propeller may be prevented from hitting the item and being damaged. When attached, the protective equipment may optionally cover at least a portion of the top surface of the propeller blade. The protective equipment may cover the entire top surface of the propeller blade. The protective equipment may or may not cover the hub of the propeller of the UAV. The protective equipment may serve as a compact protective cover for the propeller. The protective equipment may be attached as needed and detached when no longer needed (e.g., when the UAV is in flight).
The protective equipment may have a length that may extend substantially along the length of the UAV. The protective equipment length may be approximately the same length as the central body of the UAV. The protective equipment length may be about less than or equal to 10%, 7%, 5%, 3%, 2%, 1%, 0.5%, or 0.1% plus or minus the length of the UAV central body. The protective equipment may or may not include bends at the ends of the protective equipment. For example, the protective equipment may have ends that slope inwardly toward the central body. This may provide a more compact shape and/or reduce sharp edges or corners. The ends may be angled or curved.
When the UAV is ready for flight, the extension serving as protective equipment may be removed from the UAV. Prior to takeoff of the UAV, the user may remove the extension from the UAV. The user may or may not place the extension on another portion of the UAV. In some embodiments, a sensor may be provided that can detect the presence or absence of an extension from a mounting site where the extension will serve as protective equipment. In some embodiments, if the extension is still attached as protective gear, the UAV may be prevented from taking off. The UAV may be prevented from taking off if the sensor detects that the extension is still attached as protective equipment. For example, a motor controlling a propeller may be prevented from rotating. The UAV may be allowed to take off when the extension has been removed from the installation site where it will function as protective equipment.
Fig. 8 shows an example of how an extension may be attached to a UAV as a landing gear in accordance with an embodiment of the present invention. The
When attached to a mounting site, the extension may serve as a landing gear for the UAV. The extension may be configured to support the UAV while the UAV is grounded. The extension may be configured to bear the weight of the UAV when the UAV rests on an underlying surface. The extension may act as a landing gear when the UAV is not in flight. The extension may act as a landing gear when the UAV rests on a surface. The extension may be attached to the UAV as a landing gear when the UAV is in flight. The ground bracket may not bear the weight of the UAV on an underlying surface when the UAV is in flight. The configuration of the landing gear may be the same when the UAV is in flight and when the UAV lands. Alternatively, the configuration of the landing gear may be different when the UAV is in flight and when the UAV lands.
The extension may have a length that may extend substantially along the length of the UAV. The extended length may be approximately the same length as the central body of the UAV. The protective equipment length may be plus or minus about less than or equal to 10%, 7%, 5%, 3%, 2%, 1%, 0.5%, or 0.1% of the UAV central body length. The extension length may be oriented differently than the length of the central body. In some cases, the extension length may be perpendicular to the length of the central body when attached as a drop frame. The extension may be arranged such that it extends in a lateral direction. The landing gear may protrude from the side of the UAV to provide stability to the UAV. The protective equipment may or may not include bends at the ends of the protective equipment. For example, when acting as an attachment landing gear, the protective equipment may have an end portion that is inclined upwardly towards the central body. This may provide a more compact shape and/or reduce sharp edges or corners. The ends may be angled or curved.
When storing or transporting the UAV, the extension that serves as a landing gear may be removed from the UAV. The extension may then be used as a protective equipment for the UAV. Prior to takeoff of the UAV, the user may attach the extension to the UAV. In some embodiments, a sensor may be provided that can detect the presence or absence of an extension from a mounting site where the extension will act as a drop frame. In some embodiments, if the extension is not attached as a landing gear, the UAV may be prevented from taking off. If the sensor detects that the extension is not attached as a landing gear, the UAV may be prevented from taking off. For example, a motor controlling a propeller may be prevented from rotating. Alternatively, the UAV may be allowed to take off, whether or not a landing gear is attached. In some embodiments, the landing gear may be used when the UAV lands on an underlying surface, and not when landing on the user's hand. In some embodiments, not including a landing gear at all may provide a reduced weight for the UAV, which may increase flight time. The user can determine when it is convenient to attach the extension as a drop frame.
Fig. 9 shows an example of a collapsible drop frame according to an embodiment of the invention. UAV900 may include a
The UAV may include a
The UAV may include a
The landing gear may be in contact with an underlying surface when the UAV is not in flight. The landing gear may or may not allow the central body of the UAV to contact an underlying surface when the UAV rests on the surface. In some cases, the drop frame may raise the central body at least partially onto an underlying surface. The landing gear may or may not prevent the camera module from contacting the underlying surface when the UAV rests on the surface. The landing gear may raise the camera module at least partially onto an underlying surface. This may reduce the likelihood of camera damage when the UAV takes off or lands on an underlying surface.
The lowering frame may be substantially stationary. The landing gear may be stationary relative to the central body of the UAV. Alternatively, the drop frame may have one or more movable parts. The one or more movable components are movable relative to the central body of the UAV. The landing gear itself is movable relative to the central body of the UAV. In one example, the drop frame may be a collapsible drop frame. The landing gear may include one or more lateral extensions that may provide stability to the UAV when resting on a surface. The lateral extension may extend perpendicularly with respect to a longitudinal axis of the UAV. The lateral extensions may be foldable. The lateral extensions may be folded upward toward the central body of the UAV. The lateral extensions may be folded upward until they have a substantially vertical orientation. The lateral extensions may be folded upward until they contact the sides of the central body. The lateral extensions may be folded upward until they are flush with the sides of the central body. The lateral extensions may be folded up and back to their lateral configuration.
Alternatively, the lateral extensions may fold outwardly when the UAV is resting on a surface, i.e., is about to land on a surface, or immediately after takeoff from a surface. The lateral extension may fold upward when the UAV is in flight, or when the UAV is stored or transported. Folding the lateral extension upward may provide a more compact form of the UAV. The compact form of the UAV may allow for reduced space requirements for storage or transportation. The compact form of the UAV may provide improved aeromechanics during flight of the UAV as compared to extensions with outward folds. The lateral extensions may be locked into their respective positions at various stages of use. For example, when the extensions are folded outward, they may remain in the outward position until manually manipulated by a user, or in response to a command or movement of an actuator. When the extensions are folded upward, they may remain in the upward position until manually manipulated by a user, or in response to a command or movement by an actuator. In some cases, the lateral extension may remain upward during flight of the UAV without descending until the UAV is ready to land.
In some embodiments, the lateral extensions may be folded generally outward when in the landing gear configuration. The lateral extensions may be folded outward to be substantially perpendicular to the side surfaces of the central body. The lateral extensions may form a substantially straight line with respect to each other. When folded outwardly, the lateral extensions may be substantially parallel to each other. In some embodiments, the lateral extension may be at least partially folded downward when in the landing gear configuration. The lateral extensions may be folded at least partially downward to form an obtuse angle between the lateral extensions and the sides of the central body. In some cases, two lateral extensions may be provided. In some cases, additional lateral extensions may be provided. For example, the landing gear may have a tripod configuration.
The lateral extension may change position in response to manual manipulation by a user. In some cases, the user may pull directly on the lateral extensions to cause them to change the angle to the desired position. The user may or may not unlock the lateral extension from the given position with additional action, such as the motion described elsewhere herein. Alternatively or additionally, the lateral extension may automatically change position in response to a command without requiring manual manipulation by a user. One or more actuators may effect movement of the lateral extension in response to a command. The commands may be generated by a flight controller or any other processor onboard the UAV. The commands may be generated in response to data collected by the sensors. For example, if the UAV is approaching a landing surface, the landing gear extensions may automatically fold outward. The landing gear extension may automatically fold upwards if the UAV has taken off and is in flight. The upwardly and downwardly folded extensions may include at least a portion of the extensions being rotatable relative to the central body.
In some embodiments, the extension attached to the UAV may be configured to be rotatable relative to the central body when attached to the central body. All or a portion of the extension is rotatable relative to the central body. The extension may be configured to be rotatable relative to the central body when connected to the top or bottom surface of the central body or any other side, end, or portion of the central body. The extension can be manually rotated. For example, a user may directly manually manipulate the extension to cause rotation of the extension. The extension can be automatically rotated by means of one or more actuators. The extension may be configured to rotate in response to a sensed condition. In one example, the extension may be rotated to have a length extending perpendicular to the longitudinal axis of the central body when the UAV is about to land and rotated to have a length extending parallel to the longitudinal axis when the UAV is in flight. The extension may be rotatable about a vertical axis. The extension may be rotated about a vertical axis to change the orientation of the extension.
The UAV may be held in a user's hand when not in flight, or may rest on a surface when not in flight. The camera module may allow the UAV to capture images while in flight and while not in flight. For example, UAVs take aerial photographs while in flight by means of a camera module. The UAV is capable of land-based photography by means of the camera module when not in flight. The UAV may be used for handheld photography when held in a user's hand. When the UAV is resting on a surface, the UAV may be used for land-based photography, with the extensions serving as supports.
The extension may or may not be configured to protect a camera module of the UAV. For example, the extension may be configured to protect the payload and/or a bearing configured to control the orientation of the payload relative to the central body. The payload may be an image capture device. The extension may prevent the camera module from contacting the underlying surface when the UAV rests on the surface. The extension may provide protection for the camera module when the UAV is in flight. The extension may at least partially surround or cover the camera module when the UAV is flying, or when the UAV is landed on a surface.
The extension (such as a drop frame) can have various configurations, such as those shown herein, and variations thereof. For example, the drop frame may be pulled, rotated, pushed out, or extended beyond the central body. The landing gear may extend longitudinally and/or along the width of the UAV. The drop frame may or may not have upward and/or downward vertical components. The drop frame can fold or pivot about one or more locations. The drop frame may rotate about one or more axes (e.g., a vertical axis, a longitudinal axis, and/or a width axis). The landing gear may cover and protect the camera. The landing gear may cover and protect the camera when retracted or when extended. The landing gear may protect the camera when retracted.
Fig. 10 shows an example of an extension that may be attached to a UAV as a tripod in accordance with an embodiment of the present invention. UAV 1000 may include a
In some embodiments, the extension may be a
When the UAV is not in flight, the UAV may be used to make land-based photography while resting on a tripod. The tripod may support the UAV on a stationary or moving surface. For example, a tripod may support a UAV on a static surface. The legs of the tripod may be arranged to provide a stable support for the UAV. The legs may contact the underlying surface. In some cases, the legs may be wrapped around one or more objects. The UAV may capture images while resting on a static surface. The UAV may be attached to a moving surface, such as a vehicle or boom. Tripods may include legs that may lock into, be clamped by, or wrap around portions of a moving surface. The tripod may be held by a user's hand. The user may grasp one or more legs of the tripod to use the UAV for hand-held photography.
The tripod may be replaced with any other type of drop frame extension as described elsewhere herein. For example, in some embodiments, a landing gear that may also function as a propeller guard may be replaced with a tripod landing gear. Different types of landing gear may be attached and/or detached from the mounting site of the UAV.
Fig. 11 shows an example of an extension that may be attached to a UAV as a selfie stick, according to an embodiment of the invention.
In some embodiments, the extension may be a
The handle of the selfie stick may include one or more controls. The user may interact with the control while holding the selfie stick. The user may interact with the controls while the UAV is supported on a selfie stick and held away from the user. In some cases, the controls may allow the user to capture a photograph of the user with the aid of a camera onboard the UAV. The controls may provide instructions to take a picture, zoom in and/or out, switch viewing modalities, switch image capture modalities, and/or adjust the angle of the camera relative to the UAV body. The controls may affect the operation of the payload's carrier. For example, the controls may cause the pan-tilt to control the orientation of the camera relative to the central body.
The selfie stick may be mechanically connected to the UAV. The selfie stick may be locked to the UAV at the mounting site or any other connection mechanism. The UAV may remain attached to the selfie stick even when the propeller of the UAV is turning. The UAV may be removed from the selfie stick by manual manipulation by the user. In some cases, the UAV may be removed from the selfie stick only when the user removes the UAV from the selfie stick. As described elsewhere herein, a user may engage in one or more motions to remove a UAV from a selfie stick. The selfie stick may be electrically connected to the UAV. Power and/or communications flow from the pole to the UAV, and/or from the UAV to the pole. In one example, user input through a control from a joystick may affect operation of the UAV (e.g., operation of a camera module, operation of one or more propellers, operation of one or more light sources, operation of one or more audio sources, etc.). The selfie stick may include one or more electrical contacts that may be in contact with one or more electrical contacts of a mounting site of the UAV. Power and/or communications may flow via one or more electrical contacts. In some cases, a power source may be onboard the UAV and may provide power for the selfie stick. In other cases, the power source may be onboard the selfie stick and may provide power to one or more components of the UAV. In some cases, both the UAV and the selfie stick may have their own power source.
The user may hold the selfie stick while the camera carried on the UAV captures an image of the user. A camera onboard the UAV may be configured to be automatically controlled to focus on a user holding the selfie stick. The images captured by the camera may be analyzed to identify the user. An individual user may be identified or the user may be identified as having a face on which the camera will be focused. The camera may be controlled to focus on the user and/or other individuals around the user within the field of view.
In some cases, the propeller of the UAV may rotate to direct the airflow toward the user to create a wind effect. The propeller blades may be oriented to direct the airflow toward the user. In some embodiments, the UAV may identify when a selfie stick is attached to the UAV. The propeller may be rotated at a desired speed to provide a wind effect. In some cases, the UAV may identify the attachment of a selfie stick and may automatically turn the propeller at a desired rate. Optionally, the selfie stick may include one or more controls that may allow a user to control the wind effect through the propeller. Controls may be provided on the handle of the selfie stick so that the user can manipulate the controls while the UAV is attached to the selfie stick. For example, the user can turn on or off the wind effect (control the propeller to rotate or not). The user may or may not be able to adjust the level of wind effect. For example, the control may allow the user to adjust the speed at which the propeller may be turned, which may affect the degree of wind blowing towards the user. The user may provide an input to increase or decrease the speed at which the propeller rotates. In some cases, a maximum limit may be set on the speed at which the propeller turns when the selfie stick is connected to the UAV.
The UAV may include one or more light sources. The light source may be used to provide illumination to a user holding the selfie stick. The light source may be directed primarily toward a user holding the selfie stick. In some cases, a single light source may be provided. Alternatively, a plurality of light sources may be provided. The light sources may have different characteristics. For example, the light sources may emit light of different colors. The user may select one or more of the light sources to provide light to achieve a desired lighting effect in the photograph. For example, a user may select a light source having a particular color of light, or a combination of light sources of various colors of light, to provide a desired lighting effect. In some cases, the angle of the light may be adjustable. The brightness of the light source may be adjustable. The brightness levels of the plurality of light sources may be adjusted independently of each other. Optionally, the selfie stick may include one or more controls that may allow a user to control the lighting effect. Controls may be provided on the handle of the selfie stick so that the user can manipulate the controls while the UAV is attached to the selfie stick. For example, a user can turn on or off one or more light sources. When multiple light sources are available, a user may independently turn each of the light sources on or off. If the light sources have different colors, the user may thus control the overall color of the light emitted by the UAV. The user may or may not be able to adjust the brightness level of the light source. The user may provide an input to increase or decrease the brightness of light emitted by each of the light sources.
When the UAV is not in flight, the UAV may be used to make land-based photography when the UAV is attached to a selfie stick. The selfie stick may be held by a user's hand. The selfie stick may be removed while the UAV is in flight. When attached to a selfie stick, the UAV may or may not be able to fly.
As described elsewhere herein, the selfie stick may be replaced with any other type of drop frame extension. For example, in some embodiments, a drop frame that may function as a propeller guard or tripod may be replaced with a selfie stick. Different types of landing gear may be attached and/or detached from the mounting site of the UAV.
The UAV may be a portable device that may be well suited for aerial photography and taking self-portrait or other types of hand-held photography. Features of UAVs that may be used for flight may also be helpful in taking self-portrait or other types of hand-held photography. For example, propellers may be advantageously used for the flight of UAVs and provide wind effects when taking self-photographs.
Fig. 12 illustrates various ways in which a UAV may be held in accordance with an embodiment of the present invention.
The UAV may be configured to be held in a hand of a user. In one example, the UAV may be held in a generally horizontal orientation with the propellers facing upward. When in a generally horizontal orientation, the user's fingers may wrap around the propeller. The propeller may be folded inwardly to provide a compact shape. A propeller shroud may or may not be provided to protect the propeller. The camera module may be configured to be carried on the UAV. The camera of the camera module may capture images while the UAV is held in a hand of a user. UAVs may be used for hand-held photography. The field of view of the camera can be adjusted relative to the UAV central body. The camera module may include a bearing that may allow for camera orientation changes relative to the UAV body. In some cases, the field of view may be directed substantially horizontally. When the field of view is directed substantially horizontally, it may be directed toward an end of the UAV body.
In another example, the UAV may be held in a generally vertical orientation with the propellers facing sideways. When in the generally vertical orientation, the user's thumb may be supported on the propeller. The propeller may be folded inwardly to provide a compact shape. A propeller shroud may or may not be provided to protect the propeller. The camera module may be configured to be carried on the UAV. The camera of the camera module may capture images while the UAV is held in a hand of a user. UAVs may be used for hand-held photography. The field of view of the camera can be adjusted relative to the UAV central body. The camera module may include a bearing that may allow for camera orientation changes relative to the UAV body. In some cases, the field of view may be directed substantially horizontally. When the field of view is directed substantially horizontally, it may be directed toward the bottom of the UAV body.
In some cases, the UAV orientation relative to the inertial reference frame may change. For example, the user may switch between a horizontal orientation and a vertical orientation or any other orientation. The camera may remain stable on the UAV. For example, the field of view of the camera may remain pointing in substantially the same direction regardless of changes in the orientation of the UAV central body. The camera can be stabilized by means of a carrier (e.g. a pan-tilt). For example, if the field of view is directed in a substantially horizontal direction, the field of view may remain facing the same substantially horizontal direction despite movement of the UAV central body. The direction of the field of view of the camera may be controlled independently of the orientation of the UAV central body. In some cases, the user may actively control the field of view of the camera to aim in a desired direction. The field of view of the camera may remain pointed in a desired direction regardless of the motion of the UAV body.
The UAV may include one or more sensors capable of detecting the orientation of the UAV relative to an inertial reference frame. The one or more sensors can detect an orientation of the UAV relative to a direction of gravity. The sensors can detect an attitude of the UAV, a rotational speed of the UAV, a rotational acceleration of the UAV, a position of the UAV, a linear velocity of the UAV, and/or a linear acceleration of the UAV. In some embodiments, the sensors may include one or more inertial sensors, such as accelerometers, gyroscopes, magnetometers, or any other type of inertial sensor. Data from the sensors may be used to stabilize the camera.
The UAV may function as a mini handheld stabilizer for the camera. A carrier carried on the UAV may allow the UAV to function as a handheld stabilizer for the camera. UAVs may be well suited for ground level photography (e.g., handheld photography).
Fig. 13 shows a hand held sling and phone holder according to an embodiment of the invention.
An extension (such as a hand held sling 1340) may be attached to the UAV. The extension may be attached to a mounting site of the UAV. For example, the extension may be attached to a mounting site on the item surface or bottom surface of the UAV. Any description of the extensions elsewhere herein may be applicable.
The hand sling may extend to one side of the UAV. For example, the hand sling may extend to the right or left side of the UAV. The handheld sling may be configured to accept a
In some embodiments, data from the camera may be provided to the mobile device via a wireless connection. The mobile device is capable of displaying images captured by the camera even when the mobile device is not attached to the hand sling, or the hand sling is not attached to the UAV. In some cases, a direct wireless connection may be provided between the mobile device and the camera. In other embodiments, data from the camera may be provided to the mobile device via a wired connection. When the mobile device is attached to the handheld sling and when the handheld sling is attached to the UAV, the mobile device may only display images captured by the camera. The camera may provide data regarding the image via an electrical connection between the UAV and the hand sling via the mounting site, and the hand sling may also transmit data via an electrical connection between the mobile device and the hand sling.
The mobile device may be used to frame images captured by the camera. By viewing images on the mobile device, the user can adjust the orientation of the UAV and/or camera. The camera may be stabilized such that the camera points in the same general direction even if the UAV is moved around. The UAV may function as a self-stabilizing motion camera when carried or worn by a user or mounted on a movable object (e.g., a bicycle, an automobile, a boat, a motorcycle, or any other type of vehicle).
Any description herein of a hand sling may also be applicable to wearable objects. For example, the extension may be a wearable object that may allow the UAV to be worn on the body of the user. For example, the UAV may be worn around the user's wrist, arm, neck, legs, head, torso, or any other part of the user's body. The UAV may be attached to a wearable object, which may be a helmet, hat, headband, glasses, pendant, chest band, arm band, watch, leg band, jacket, shirt, pants, or any other wearable object.
Fig. 14 shows an example of a UAV in reverse flight mode in accordance with an embodiment of the present invention.
In some embodiments, the UAV is capable of flying in a right-side-up mode and an inverted mode. In some embodiments, the UAV may have propellers disposed on a top side of the UAV when the UAV is flying in a right-side-up mode. The propeller may be on the underside of the UAV when the UAV is flying in an inverted mode. During a first flight mode (e.g., right-side-up mode), the propeller may be positioned above the camera. During a second flight mode (e.g., an inverted mode), the propeller may be located below the camera. In some embodiments, the first flight mode may be a downward aerial photography flight mode, and the second flight mode may be an upward aerial photography flight mode. For example, the camera may be on a lower portion of the central body during the first flight mode, and may be oriented at least partially downward or horizontally. The camera may be an upper portion of the central body during the second flight mode and may be at least partially oriented upwardly or horizontally. As shown, the carrier and camera may be free to capture images in an upward direction when the camera is flying in an inverted mode. The orientation of the central body may be changed between a first flight mode and a second flight mode. The central body may be flipped between the first flight mode and the second flight mode.
In some embodiments, the UAV may fly in a right-side-up mode for the duration of the flight. The user may then make adjustments, such as flipping the UAV over. The UAV may then fly in an inverted mode for the duration of the flight. In other embodiments, the UAV may switch between flying in a right-side-up mode and in an inverted mode while in flight. In some cases, the UAV may switch between flight modes by adjusting the orientation of one or more propellers relative to the central body. In some cases, the UAV may switch between flight modes by adjusting the rotational speed of one or more propellers.
The same rotor blade may be used for both the first and second flight modes. Alternatively, different rotor blades may be used for the first and second flight modes. In some embodiments, the rotor blades used in the second flight mode may have an opposite pitch direction than the rotor blades in the first flight mode. The rotor blades may have an exact reverse pitch or may have different pitches. Other characteristics between rotor blade sets may or may not be the same (e.g., length, width, shape, thickness, pitch, cross-section, material). In some embodiments, a rotor blade for right-side-up flight may be different than a rotor blade for inverted flight. Specialized rotor blades may be configured for inverted flight. In some embodiments, the control logic for controlling rotation of the propeller may be different between the first flight mode and the second flight mode. The control logic may take into account that the relative positioning between the propeller and the central body has changed. The control logic may account for the center of mass of the UAV being at a different position relative to the propeller between the first flight mode and the second flight mode. The propeller may be rotated in the same direction between the first flight mode and the second flight mode. Alternatively, the propeller may be rotated in different directions between the first flight mode and the second flight mode.
In some embodiments, the propellers may be located above and below the central body. In some cases, only the propellers above the main body may be rotated during the first flight mode, and only the propellers below the central main body may be rotated during the second flight mode. Alternatively, both sets of propellers may be in operation during the first and/or second flight modes. The UAV central body need not change orientation between the first mode of flight and the second mode of flight. In some cases, the propeller located below the central body may have a similar configuration to the propeller located above the central body. The propeller below the central body may be located at or near the tip of the central body. The propeller below the central body may be arranged along the longitudinal axis of the central body. The propeller below the central body may include a pair of propellers. A corresponding pair of motors may drive the pair of propellers. The orientation of the propeller below the central body relative to the central body may be static or may be adjustable. The orientation of a pair of propellers below the central body can be adjusted by means of one or more actuators, such as servomotors. The orientation of a pair of propellers below the central body can be adjusted about the longitudinal axis.
Figure 15 shows an example of a UAV having one or more arm extensions supporting additional propellers, in accordance with an embodiment of the invention.
The UAV may include one or more mounting sites 1540. The mounting site may be disposed anywhere on the UAV. The mounting site may be disposed on a central body of the UAV. The mounting site may be on any surface of the UAV. For example, the mounting site may be on a top surface of the UAV, a bottom surface of the UAV, a front surface of the UAV, a rear surface of the UAV, a right surface of the UAV, and/or a left surface of the UAV. The mounting sites may be vertically oriented or may be horizontally oriented. In some cases, one or more pairs of mounting sites may be provided on opposite sides of the UAV. The mounting site may have any of the characteristics as described elsewhere herein.
One or more extensions may be attached to the mounting site. The extension may be an
The arms may be removably coupled to the central body. The arms may be locked to the central body so that they do not become detached during flight of the UAV. The user may manually attach and/or detach the arms from the central body. The arms may not be attached or detached from the central body without manual intervention by the user. The user may attach or detach the arm from the body using one or more motions, such as those described elsewhere herein. Any number of arms may be attached to the UAV. For example, a single arm, two arms, three arms, four arms, five arms, six arms, seven arms, eight arms, nine arms, ten arms, or more arms can be attached to the UAV.
The arms may extend laterally away from the central body. The arm may extend substantially perpendicularly from a surface to which the arm is attached. The arm may extend at an oblique angle relative to the surface to which the arm is attached. The arms may extend generally laterally without tilting upwardly or downwardly. The arms may extend laterally while being inclined upward and/or downward. In some cases, the propulsion unit supported by the arm may be at the same lateral level as the propulsion unit directly supported by the central body when the arm is attached to the mounting site. In some cases, the propulsion units supported by the arms may be at a higher or lower lateral level than the propulsion units directly supported by the central body. The arms may remain substantially static relative to the central body when attached thereto. Alternatively, the arms are movable relative to the central body when attached thereto. For example, the arm may pivot at a proximal end of the arm that may be attached to the body. The arms may pivot through different vertical angles and/or different lateral angles. The arm may have one or more joints that may allow bending or folding of the arm. The arm may move when the user manually manipulates the arm to move in a particular manner. For example, the user may fold the arm. In some embodiments, the arm may be moved by means of one or more actuators. The arm is movable during flight of the UAV. The arm is movable during takeoff or landing of the UAV.
The central body may include a longitudinal axis extending along a length of the central body. In some cases, the propulsion unit directly supported by the central body may be positioned along a longitudinal axis of the central body. The one or more propulsion units supported by the arm may not be located on the longitudinal axis. For example, one or more propulsion units supported by the arm may remain off the side of the UAV and off the longitudinal axis. In some cases, a pair of arms may be added to the UAV, and allow the UAV to form a quad-gyroplane having a propulsion unit supported by the arms and a propulsion unit directly supported by the central body.
The UAV is capable of flying when the arms are not attached to the UAV. The UAV is capable of flying by means of a propulsion unit directly coupled to the central body. The UAV can fly only by means of a propulsion unit directly supported by the central body. The UAV is capable of flying when the arms are attached to the UAV. The UAV is capable of flying by means of a propulsion unit directly coupled to the central body and a propulsion unit supported by the arms. The UVA can fly by means of a propulsion unit supported by the arm without the need for a propulsion unit supported by the central body.
The mounting sites may provide mechanical and/or electrical connections between the arm and the UAV. The mounting site may physically support an arm on the UAV. The mounting site may allow power and/or data to flow between the arm and the UAV. For example, the UAV may have a power source that may provide power to the arm via a mounting site connection. For example, a power source onboard the UAV (e.g., onboard a central body of the UAV) may provide power to a propulsion unit supported by the arm. Alternatively or additionally, the arm may have a local power source that may provide power to the UAV, or may provide power to components onboard the arm. In some cases, the arm may provide information to the UAV when the arm is attached to the UAV. For example, when the arm is attached to the UAV, information about the type of arm and/or propulsion unit may be provided to the UAV. Information regarding the operating parameters of the arm may be transmitted to the UAV. Data for controlling the propulsion unit may be sent from the UAV to the arm. For example, a flight controller onboard a UAV may receive information that the arm is attached to the UAV. The flight controller may generate one or more commands to control operation of one or more motors of a propulsion unit supported by the arm. These instructions may be transmitted through the mounting site to a motor supported by the arm to control operation of the propulsion unit.
When the arms are not attached to the UAV, the flight controller may operate under a first set of instructions to control the propulsion unit directly supported by the central body. When the arms are attached to the UAV, the flight controller may operate under a second set of instructions to control the propulsion unit directly supported by the central body and the propulsion unit consistently supported by the arms. The UAV may operate in different modes when there is no attachment arm and when there is an attachment arm.
The UAV and/or components thereof may be provided as a kit. A kit for a UAV may include the UAV itself and/or components thereof. A kit for a UAV may include a UAV and one or more extensions. A kit for a UAV may include one or more extensions, such as protective gear, a drop frame, a tripod, a selfie stick, a hand-held sling, an arm with a propulsion unit, or any other type of extension. A kit for a UAV may include instructions for assembly and/or operation of the UAV and/or any components thereof. The kit may include instructions for attachment and/or operation of the extension with the UAV.
The systems and methods described herein may be implemented by and/or applied to a variety of movable objects. The systems, devices, and methods described herein may be applied to a variety of movable objects. As previously mentioned, any description herein of an aircraft may be applicable to and used with any movable object. The movable object of the present invention may be configured to move within any suitable environment, such as in the air (e.g., a fixed wing aircraft, a rotary wing aircraft, or an aircraft with neither fixed wings nor rotary wings), in water (e.g., a ship or submarine), on the ground (e.g., a mobile vehicle, such as an automobile, truck, bus, van, motorcycle; movable structure or frame, such as a stick, fishing rod; or train), underground (e.g., a subway), in space (e.g., a space shuttle, satellite, or probe), or any combination of these environments. The movable object may be a vehicle, such as the vehicles described elsewhere herein. In some embodiments, the movable object may be mounted on a living organism, such as a human or animal. Suitable animals may include primates, birds, canines, felines, equines, bovines, ovines, porcines, dolphins, rodents, or insects.
The movable object is free to move within the environment with respect to six degrees of freedom (e.g., three degrees of freedom in translation and three degrees of freedom in rotation). Alternatively, the movement of the movable object may be constrained with respect to one or more degrees of freedom, such as by a predetermined path, trajectory, or orientation. The movement may be actuated by any suitable actuation mechanism, such as an engine or motor. The actuating mechanism of the movable object may be powered by any suitable energy source, such as electrical energy, magnetic energy, solar energy, wind energy, gravitational energy, chemical energy, nuclear energy, or any suitable combination thereof. As described elsewhere herein, the movable object may be self-propelled via a propulsion system. The propulsion system may optionally operate on an energy source, such as electrical, magnetic, solar, wind, gravitational, chemical, nuclear, or any suitable combination thereof. Alternatively, the movable object may be carried by a living being.
In some cases, the movable object may be a vehicle. Suitable vehicles may include water vehicles, aircraft, space vehicles, or ground vehicles. For example, the aircraft may be a fixed wing aircraft (e.g., airplane, glider), a rotary wing aircraft (e.g., helicopter, rotorcraft), an aircraft having fixed wings and rotary wings, or an aircraft having neither fixed nor rotary wings (e.g., airship, hot air balloon). The vehicle may be self-propelled, such as by air, over or in water, in space, or on or under the ground. The self-propelled vehicle may utilize a propulsion system, such as a propulsion system including one or more engines, motors, wheels, axles, magnets, rotors, propellers, blades, nozzles, or any suitable combination thereof. In some cases, the propulsion system may be used to enable the movable object to takeoff from a surface, land on a surface, maintain its current position and/or orientation (e.g., hover), change orientation, and/or change position.
The movable object may be controlled remotely by a user or locally by an occupant within or on the movable object. In some embodiments, the movable object is an unmanned movable object, such as a UAV. An unmanned movable object such as a UAV may not have occupants stowed on the movable object. The movable object may be controlled by a person or an autonomous control system (e.g., a computer control system), or any suitable combination thereof. The movable object may be an autonomous or semi-autonomous robot, such as a robot configured with artificial intelligence.
The movable object may have any suitable size and/or dimensions. In some embodiments, the size and/or dimensions of the movable object may be such that there is a human occupant in or on the vehicle. Alternatively, the size and/or dimensions of the movable object may be smaller than the size and/or dimensions of the vehicle in which a human occupant may be present. The size and/or dimensions of the movable object may be suitable for lifting or carrying by a person. Alternatively, the movable object may be larger than a size and/or dimension suitable for lifting or carrying by a person. In some cases, the maximum dimension (e.g., length, width, height, diameter, diagonal) of the movable object can be less than or equal to about 2cm, 3cm, 4cm, 5cm, 6cm, 7cm, 8cm, 9cm, 10cm, 12cm, 15cm, 20cm, 25cm, 30cm, 40cm, 50cm, 1m, 2m, 5m, or 10 m. The maximum dimension can be greater than or equal to about 2cm, 3cm, 4cm, 5cm, 6cm, 7cm, 8cm, 9cm, 10cm, 12cm, 15cm, 20cm, 25cm, 30cm, 40cm, 50cm, 1m, 2m, 5m, or 10 m. For example, the distance between the axis of the opposing rotors of the movable object may be less than or equal to about 1cm, 2cm, 3cm, 4cm, 5cm, 6cm, 7cm, 8cm, 9cm, 10cm, 12cm, 15cm, 20cm, 25cm, 30cm, 40cm, 50cm, 1m, 2m, 5m, or 10 m. Alternatively, the distance between the axes of opposing rotors may be greater than or equal to about 1cm, 2cm, 3cm, 4cm, 5cm, 6cm, 7cm, 8cm, 9cm, 10cm, 12cm, 15cm, 20cm, 25cm, 30cm, 40cm, 50cm, 1m, 2m, 5m, or 10 m.
In some embodiments, the volume of the movable object may be less than 100cm x 100cm, less than 50cm x 30cm, or less than 5cm x 3 cm. The total volume of the movable object may be less than or equal to about 1cm3、2cm3、5cm3、10cm3、20cm3、30cm3、40cm3、50cm3、60cm3、70cm3、80cm3、90cm3、100cm3、150cm3、200cm3、300cm3、500cm3、750cm3、1000cm3、5000cm3、10,000cm3、100,000cm3、1m3Or 10m3. Conversely, the total volume of the movable object may be greater than or equal to about 1cm3、2cm3、5cm3、10cm3、20cm3、30cm3、40cm3、50cm3、60cm3、70cm3、80cm3、90cm3、100cm3、150cm3、200cm3、300cm3、500cm3、750cm3、1000cm3、5000cm3、10,000cm3、100,000cm3、1m3Or 10m3。
In some embodiments, the footprint of the movable object (which may refer to the lateral cross-sectional area enclosed by the movable object) may be less than or equal to about 32,000cm2、20,000cm2、10,000cm2、1,000cm2、500cm2、100cm2、50cm2、10cm2Or 5cm2. Conversely, the footprint may be greater than or equal to about32,000cm2、20,000cm2、10,000cm2、1,000cm2、500cm2、100cm2、50cm2、10cm2Or 5cm2。
In some cases, the weight of the movable object may not exceed 1000 kg. The weight of the movable object may be less than or equal to about 1000kg, 750kg, 500kg, 200kg, 150kg, 100kg, 80kg, 70kg, 60kg, 50kg, 45kg, 40kg, 35kg, 30kg, 25kg, 20kg, 15kg, 12kg, 10kg, 9kg, 8kg, 7kg, 6kg, 5kg, 4kg, 3kg, 2kg, 1kg, 0.5kg, 0.1kg, 0.05kg, or 0.01 kg. Conversely, the weight can be greater than or equal to about 1000kg, 750kg, 500kg, 200kg, 150kg, 100kg, 80kg, 70kg, 60kg, 50kg, 45kg, 40kg, 35kg, 30kg, 25kg, 20kg, 15kg, 12kg, 10kg, 9kg, 8kg, 7kg, 6kg, 5kg, 4kg, 3kg, 2kg, 1kg, 0.5kg, 0.1kg, 0.05kg, or 0.01 kg.
In some embodiments, the movable object may be small relative to the load carried by the movable object. The payload may include a payload and/or a carrier, as described in further detail below. In some examples, the ratio of the movable object weight to the load weight may be greater than, less than, or equal to about 1: 1. In some cases, the ratio of the weight of the movable object to the weight of the load may be greater than, less than, or equal to about 1: 1. Alternatively, the ratio of the weight of the load bearing member to the weight of the load may be greater than, less than, or equal to about 1: 1. When desired, the ratio of the weight of the movable object to the weight of the load may be less than or equal to 1: 2, 1: 3, 1: 4, 1: 5, 1: 10, or even less. Conversely, the ratio of the weight of the movable object to the weight of the load may also be greater than or equal to 2: 1, 3: 1, 4: 1, 5: 1, 10: 1, or even greater.
In some embodiments, the movable object may have low energy consumption. For example, less than about 5W/h, 4W/h, 3W/h, 2W/h, 1W/h, or lower may be used for the movable object. In some cases, the carrier of the movable object may have a low energy consumption. For example, less than about 5W/h, 4W/h, 3W/h, 2W/h, 1W/h, or lower may be used for the carrier. Alternatively, the payload of the movable object may have a low energy consumption, such as less than about 5W/h, 4W/h, 3W/h, 2W/h, 1W/h, or lower.
In some embodiments, the movable object may be configured to carry a load. The load may include one or more of passengers, cargo, equipment, instrumentation, and the like. The load may be disposed within the housing. The housing may be separate from the housing of the movable object or be part of the housing for the movable object. Alternatively, the load may be provided with a housing, while the movable object does not have a housing. Alternatively, part or all of the load may be provided without the housing. The load may be rigidly fixed relative to the movable object. Alternatively, the load can be movable relative to the movable object (e.g., translatable or rotatable relative to the movable object).
In some embodiments, the payload comprises a payload. The payload may be configured not to perform any operation or function. Alternatively, the payload may be a payload configured to perform an operation or function, also referred to as a function payload. For example, the payload may include one or more sensors for investigating one or more targets. Any suitable sensor may be incorporated into the payload, such as an image capture device (e.g., a camera), an audio capture device (e.g., a parabolic microphone), or an infrared or ultraviolet imaging device. The sensors may provide static sensing data (e.g., photos) or dynamic sensing data (e.g., video). In some embodiments, the sensor provides sensed data of the target of the payload. Alternatively or in combination, the payload may include one or more transmitters for providing signals to one or more targets. Any suitable emitter may be used, such as an illumination source or a sound source. In some embodiments, the payload includes one or more transceivers, such as for communicating with modules remote from the movable object. Optionally, the payload may be configured to interact with the environment or the target. For example, the payload may include a tool, instrument, or mechanism capable of manipulating an object, such as a robotic arm.
Optionally, the load may comprise a load bearing member. A carrier may be provided for the payload, and the payload may be coupled to the movable object via the carrier, either directly (e.g., directly contacting the movable object) or indirectly (e.g., without contacting the movable object). Instead, the payload may be mounted on the movable object without the need for a carrier. The payload may be integrally formed with the carrier. Alternatively, the payload may be releasably coupled to the carrier. In some embodiments, the payload may include one or more payload elements, and one or more of the payload elements may be movable relative to the movable object and/or the carrier, as described above.
The carrier may be integrally formed with the movable object. Alternatively, the carrier may be releasably coupled to the movable object. The carrier may be directly or indirectly coupled to the movable object. The carrier may provide support for the payload (e.g., carry at least a portion of the weight of the payload). The carrier may include suitable mounting structures (e.g., a pan-tilt platform) capable of stabilizing and/or directing movement of the payload. In some embodiments, the carrier may be adapted to control a state (e.g., position and/or orientation) of the payload relative to the movable object. For example, the carrier may be configured to move relative to the movable object (e.g., with respect to one, two, or three degrees of translation and/or one, two, or three degrees of rotation) such that the payload maintains its position and/or orientation relative to a suitable frame of reference regardless of the movement of the movable object. The reference frame may be a fixed reference frame (e.g., ambient environment). Alternatively, the reference frame may be a moving reference frame (e.g., a movable object, a payload target).
In some embodiments, the carrier may be configured to allow movement of the payload relative to the carrier and/or the movable object. The movement may be a translation with respect to up to three degrees of freedom (e.g., along one, two, or three axes) or a rotation with respect to up to three degrees of freedom (e.g., about one, two, or three axes), or any suitable combination thereof.
In some cases, the carrier may include a carrier frame assembly and a carrier actuation assembly. The carrier frame assembly may provide structural support for the payload. The carrier frame assembly may comprise individual carrier frame components, some of which are movable relative to each other. The carrier actuation assembly may include one or more actuators (e.g., motors) that actuate movement of the respective carrier frame components. The actuator may allow for simultaneous movement of multiple carrier frame components, or may be configured to allow for movement of a single carrier frame component at a time. Movement of the carrier frame component may produce a corresponding movement of the payload. For example, the carrier actuation assembly may actuate rotation of one or more carrier frame components about one or more axes of rotation (e.g., a roll axis, a pitch axis, or a yaw axis). Rotation of the one or more carrier frame members may rotate the payload relative to the movable object about one or more axes of rotation. Alternatively or in combination, the carriage actuation assembly may actuate translation of one or more carriage frame components along one or more translation axes, resulting in translation of the payload relative to the movable object along one or more corresponding axes.
In some embodiments, movement of the movable object, carrier, and payload relative to a fixed reference frame (e.g., the surrounding environment) and/or each other may be controlled by the terminal. The terminal may be a remote control at a location remote from the movable object, the carrier and/or the payload. The terminal may be disposed on or secured to the support platform. Alternatively, the terminal may be a handheld device or a wearable device. For example, the terminal may include a smartphone, tablet, laptop, computer, glasses, gloves, helmet, microphone, or a suitable combination thereof. The terminal may comprise a user interface such as a keyboard, mouse, joystick, touch screen or display. Any suitable user input may be used to interact with the terminal, such as manually entered commands, voice control, gesture control, or fixed position control (e.g., via movement, position, or tilt of the terminal). The terminal may be the same remote control as previously described herein.
The terminal may be used to control any suitable state of the movable object, carrier and/or payload. For example, the terminal may be used to control the positioning and/or orientation of the movable object, carrier, and/or payload relative to a fixed reference from and/or to each other. In some embodiments, the terminal may be used to control the movable object, the carrier, and/or various elements of the payload, such as an actuation assembly of the carrier, a sensor of the payload, or a transmitter of the payload. The terminal may comprise a wireless communication device adapted to communicate with one or more of the movable object, the carrier, or the payload.
The terminal may comprise a suitable display unit for viewing information of the movable object, the carrier and/or the payload. For example, the terminal may be configured to display information of the movable object, the carrier, and/or the payload with respect to position, translational velocity, translational acceleration, orientation, angular velocity, angular acceleration, or any suitable combination thereof. In some embodiments, the terminal may display information provided by the payload, such as data provided by the functional payload (e.g., images recorded by a camera or other image capture device).
Alternatively, the same terminal may control the movable object, carrier and/or payload or the state of the movable object, carrier and/or payload and receive and/or display information from the movable object, carrier and/or payload. For example, the terminal may control the position of the payload relative to the environment while displaying image data captured by the payload, or information about the position of the payload. Alternatively, different terminals may be used for different functions. For example, a first terminal may control movement or status of a movable object, carrier, and/or payload, while a second terminal may receive and/or display information from the movable object, carrier, and/or payload. For example, a first terminal may be used to control the positioning of the payload relative to the environment while a second terminal displays image data captured by the payload. Various modes of communication may be utilized between the movable object and an integrated terminal that both controls the movable object and receives data or between the movable object and multiple terminals that both control the movable object and receive data. For example, at least two different communication modes may be formed between the movable object and a terminal that both controls the movable object and receives data from the movable object.
In some embodiments, the movable object supporting the imaging device may be a UAV. Fig. 16 shows a
Further, although a payload and a single carrier may be shown here, the UAV may carry any number of carriers and/or payloads. For example, the UAV may bear the weight of two or more, three or more, four or more, or five or more bearings (e.g., a pan-tilt head) that each support one or more payloads (e.g., cameras). For example, a dual camera configuration may be provided as described elsewhere herein.
As previously described, the
In some embodiments,
The
In some embodiments, terminal 1612 may provide control data to one or more of
In some embodiments,
Fig. 17 shows an
The
In some embodiments, the
The
The components of
It should be understood from the foregoing that, while particular embodiments have been illustrated and described, various modifications can be made thereto and are contemplated herein. Neither is the invention intended to be limited to the specific examples provided in the specification. While the invention has been described with reference to the foregoing specification, the descriptions and illustrations of the preferred embodiments herein are not meant to be construed in a limiting sense. Further, it is to be understood that all aspects of the present invention are not limited to the specific depictions, configurations or relative proportions set forth herein which depend upon a variety of conditions and variables. Various modifications in form and detail of the embodiments of the invention will be apparent to those skilled in the art. It is therefore contemplated that the present invention shall also cover any such modifications, variations and equivalents.
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