Aerial vehicle with frame assemblies

• US 10,046,844 B2
• Filed: 10/14/2016
• Issued: 08/14/2018
• Est. Priority Date: 01/10/2013
• Status: Active Grant

• Current Assignee: SZ DJI Technology Co., Ltd. (d/b/a DJI) (iFlight Technology Company Limited)
• Original Assignee: SZ DJI Technology Co., Ltd. (d/b/a DJI) (iFlight Technology Company Limited)
• Inventors: Wang, Tao, Zhao, Tao, Du, Hao, Wang, Mingxi
• Primary Examiner(s): Bonzell, Philip J
• Assistant Examiner(s): Kreiner, Michael B
• Application Number:
  US15/294,517
• Publication Number:
  US 20170096210A1
• Time in Patent Office: 669 Days
• CPC Class Codes: A63H 27/12 Helicopters A63H27/04 takes precedence; Flying tops
• CPC Class Codes: B64C 1/00 Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
• CPC Class Codes: B64C 1/061 Frames
• CPC Class Codes: B64C 1/063 Folding or collapsing to reduce overall dimensions, e.g. foldable tail booms
• CPC Class Codes: B64C 2025/325 specially adapted for helicopters
• CPC Class Codes: B64C 25/12 sideways
• CPC Class Codes: B64C 25/32 characterised by elements which contact the ground or similar surface arrester hooks B64C25/68
• CPC Class Codes: B64C 27/08 with two or more rotors
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64C 39/028 Micro-sized aircraft
• CPC Class Codes: B64D 47/00 Equipment not otherwise provided for
• CPC Class Codes: B64D 47/08 Arrangements of cameras
• CPC Class Codes: B64U 10/10 Rotorcrafts
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 10/14 with four distinct rotor axes, e.g. quadcopters
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• CPC Class Codes: B64U 2201/00 UAVs characterised by their flight controls
• CPC Class Codes: B64U 2201/20 Remote controls
• CPC Class Codes: B64U 30/20 Rotors; Rotor supports
• CPC Class Codes: B64U 30/293 Foldable or collapsible rotors or rotor supports
• CPC Class Codes: B64U 50/13 : using external fans or propellers
• CPC Class Codes: B64U 50/19 : using electrically powered motors
• CPC Class Codes: G05D 1/042 : specially adapted for aircraft

Abstract

Systems, devices, and methods for a transformable aerial vehicle are provided. In one aspect, a transformable aerial vehicle includes: a central body and at least two transformable frames assemblies respectively disposed on the central body, each of the at least two transformable frame assemblies having a proximal portion pivotally coupled to the central body and a distal portion; an actuation assembly mounted on the central body and configured to pivot the at least two frame assemblies to a plurality of different vertical angles relative to the central body; and a plurality of propulsion units mounted on the at least two transformable frame assemblies and operable to move the transformable aerial vehicle.

Claims

1. A unmanned aerial vehicle (UAV) comprising:

a central body;

at least two transformable frame assemblies respectively disposed on the central body, each of the at least two transformable frame assemblies having a proximal portion pivotally coupled to the central body and a distal portion; and

a plurality of propulsion units mounted on the at least two transformable frame assemblies and operable to move the UAV;

wherein each of the at least two transformable frame assemblies are configured to pivot at the proximal portion through a plurality of vertical angles relative to a yaw axis of the central body, the plurality of vertical angles comprising;

(1) a first vertical angle permitting the distal portion of each of the at least two transformable frame assemblies to be even with the central body during at least a portion of a takeoff phase and a landing phase, (2) a second vertical angle different from the first vertical angle during a flight phase, and (3) a third vertical angle permitting the at least two transformable frame assemblies to support the UAV on a surface when the UAV is in a resting phase.

2. The UAV of claim 1, wherein the second vertical angle increases, relative to the first vertical angle, a functional space of a payload coupled to the central body.

3. The UAV of claim 2, wherein the payload comprises an image capturing device, and the functional space comprises an unobstructed field of view of the image capturing device.

4. The UAV of claim 1, wherein the at least two transformable frame assemblies are substantially perpendicular to the yaw axis of the central body, when the at least two transformable frame assemblies are at the first vertical angle.

5. The UAV of claim 1, wherein the at least two transformable frame assemblies are angled upwards relative to the yaw axis of the central body, when the at least two transformable frame assemblies are at the second vertical angle.

6. The UAV of claim 1, wherein the at least two transformable frame assemblies are angled downwards relative to the yaw axis of the central body, when the at least two transformable frame assemblies are at the third vertical angle.

7. The UAV of claim 1, wherein the at least two transformable frame assemblies each comprise a support member configured to support the UAV when the UAV is in the resting phase.

8. The UAV of claim 1, wherein the plurality of propulsion units are above the central body, when the at least two transformable frame assemblies are at the second vertical angle.

9. The UAV of claim 1, further comprising one or more sensors adapted to sense when the UAV is at a suitable altitude for aerial photography, wherein the at least two transformable frame assemblies are pivoted to the second vertical angle based on sensing data of the one or more sensors.

10. The UAV of claim 1, wherein at the plurality of propulsion units are below the central body, when the at least two transformable frame assemblies are at the third vertical angle.

11. The UAV of claim 1, further comprising one or more sensors adapted to sense when the UAV is about to land, wherein the at least two transformable frame assemblies are pivoted to the third vertical angle based on sensing data of the one or more sensors.

12. The UAV of claim 1, further comprising an actuation assembly mounted on the central body and configured to pivot the at least two transformable frame assemblies to the plurality of different vertical angles.

13. The UAV of claim 12, wherein each of the at least two transformable frame assemblies comprise a primary shaft and at least one secondary shaft extending substantially parallel to the primary shaft, the primary shaft and the at least one secondary shaft respectively pivotally coupled to the central body, and

wherein the primary shaft and the at least one secondary shaft are coupled to each other, such that actuation of the primary shaft by the actuation assembly produces a corresponding actuation of the at least one secondary shaft.

14. The UAV of claim 12, wherein the actuation assembly comprises a linear actuator, and a portion of each of the at least two transformable frame assemblies is coupled to the linear actuator.

15. The UAV of claim 12, further comprising a receiver, the receiver configured to receive commands transmitted from a remote terminal for controlling the actuation assembly.

16. The UAV of claim 12, further comprising a control system, the control system configured to automatically control the actuation assembly based on one or more of:

position of the UAV, orientation of UAV, current configuration of the UAV, time, or sensing data acquired by a sensor of the UAV or by a payload coupled to the UAV.

17. The UAV of claim 1, wherein the first vertical angle is between the second vertical angle and the third vertical angle.

18. A unmanned aerial vehicle (UAV) comprising:

a central body;

at least two transformable frame assemblies respectively disposed on the central body, each of the at least two transformable frame assemblies having a proximal portion coupled to the central body;

an actuation assembly configured to transform, via actuation at the proximal portion, the at least two transformable frame assemblies into a plurality of different configurations; and

a plurality of propulsion units mounted on the at least two transformable frame assemblies and operable to move the transformable aerial vehicle;

wherein the plurality of different configurations comprise (1) a first configuration where the propulsion units are positioned even with the central body during at least a portion of a takeoff phase and a landing phase, (2) a second configuration different from the first configuration during a flight phase, and (3) a third vertical angle permitting the at least two transformable frame assemblies to support the UAV on a surface when the UAV is in a resting phase.

19. The method for controlling a UAV, said method comprising:

providing a UAV comprising a central body and at least two transformable frame assemblies respectively disposed on the central body, each of the at least two transformable frame assemblies having a proximal portion coupled to the central body;

operating a plurality of propulsion units mounted on the at least two transformable frame assemblies to move the transformable aerial vehicle; and

driving an actuation assembly mounted on the central body to automatically transform, via actuation at the proximal portion, the at least two transformable frame assemblies into a plurality of different configurations, wherein the plurality of different configurations comprise (1) a first configuration where the propulsion units are positioned even with the central body during at least a portion of a takeoff phase and a landing phase, (2) a second configuration different from the first configuration during a flight phase, and (3) a third vertical angle permitting the at least two transformable frame assemblies to support the UAV on a surface when the UAV is in a resting phase.