Unmanned aerial vehicle and operations thereof

• US 10,272,994 B2
• Filed: 07/03/2018
• Issued: 04/30/2019
• Est. Priority Date: 11/15/2012
• 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, Chen, Shaojie, Ou, Zhigang
• Primary Examiner(s): Bonzell, Philip J
• Assistant Examiner(s): Kreiner, Michael B.
• Application Number:
  US16/027,178
• Publication Number:
  US 20190002094A1
• Time in Patent Office: 301 Days
• CPC Class Codes: A63H 27/12 Helicopters A63H27/04 takes precedence; Flying tops
• CPC Class Codes: B64C 1/30 Parts of fuselage relatively movable to reduce overall dimensions of aircraft
• CPC Class Codes: B64C 2025/325 specially adapted for helicopters
• CPC Class Codes: B64C 25/06 fixed
• CPC Class Codes: B64C 25/32 characterised by elements which contact the ground or similar surface arrester hooks B64C25/68
• CPC Class Codes: B64C 27/00 Rotorcraft; Rotors peculiar thereto
• CPC Class Codes: B64C 27/08 with two or more rotors
• CPC Class Codes: B64C 27/54 Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64D 31/14 Transmitting means between initiating means and power plants
• CPC Class Codes: B64D 43/00 Arrangements or adaptations of instruments arrangements of cameras B64D47/08; aeronautical measuring instruments per se G01C
• 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 20/80 Arrangement of on-board electronics, e.g. avionics systems or wiring
• CPC Class Codes: B64U 2101/00 UAVs specially adapted for particular uses or applications
• CPC Class Codes: B64U 2101/20 for use as communications relays, e.g. high-altitude platforms
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• CPC Class Codes: B64U 2101/60 for transporting passengers; for transporting goods other than weapons
• CPC Class Codes: B64U 2201/00 UAVs characterised by their flight controls
• CPC Class Codes: B64U 2201/10 : autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
• CPC Class Codes: B64U 30/20 : Rotors; Rotor supports
• CPC Class Codes: B64U 30/291 : Detachable rotors or rotor supports
• CPC Class Codes: B64U 30/293 : Foldable or collapsible rotors or rotor supports
• CPC Class Codes: B64U 50/19 : using electrically powered motors
• CPC Class Codes: B64U 60/50 : with landing legs
• CPC Class Codes: B64U 80/00 : Transport or storage specially adapted for UAVs
• CPC Class Codes: G01R 33/0047 : Housings or packaging of magnetic sensors packaging of semiconductor devices H01L23/00; Holders
• CPC Class Codes: G01V 3/16 : specially adapted for use from aircraft G01V3/165 - G01V3/175 take precedence
• CPC Class Codes: G05D 1/00 : Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots drive control systems specially adapted for autonomous road vehicles B60W60/00
• CPC Class Codes: Y10T 29/49117 : Conductor or circuit manufacturing

Abstract

The present invention provides methods and apparatus for unmanned aerial vehicles (UAVs) with improved reliability. According to one aspect of the invention, interference experienced by onboard sensors from onboard electrical components is reduced. According to another aspect of the invention, user-configuration or assembly of electrical components is minimized to reduce user errors.

Claims

1. A multi-rotor unmanned aerial vehicle (UAV) having a weight, the UAV comprising:

a housing forming a body of the UAV, the housing comprising an outer surface and an inner surface, the inner surface forming a cavity;

one or more electrical components disposed within the cavity, the one or more electrical components selected from a group comprising a power source, flight control module, inertial measurement unit (IMU), and GPS receiver;

a landing stand attached to and extending away from the housing to bear the weight of the UAV when the UAV is not airborne; and

a magnetometer attached to the landing stand at a distance of at least about 3 cm from the one or more electrical components.

2. The UAV of claim 1, further comprising a carrier configured to support a payload device.

3. The UAV of claim 2, wherein the landing stand is one of two landing stands, the two landing stands being attached to a lower body portion of the housing at corresponding attachment interfaces, and wherein the carrier includes a gimbal, and wherein the UAV further comprises the payload device, the payload device including a camera, with both the gimbal and the camera positioned between the two landing stands.

4. The UAV of claim 1, wherein the landing stand includes an attachment interface adjacent the housing, the attachment interface having an opening, and wherein the UAV further comprises a wire connected to the magnetometer and extending through the opening and into the cavity.

5. The UAV of claim 1, further comprising:

multiple actuators carried by the housing;

multiple rotors carried by corresponding individual actuators; and

an indicator light source carried by the housing toward a lower portion of the UAV, away from the multiple rotors.

6. The UAV of claim 1, wherein the magnetometer is at least 3 cm from the GPS receiver.

7. A multi-rotor unmanned aerial vehicle (UAV), comprising:

a central body comprising an upper housing member and a lower housing member, the upper housing member and the lower housing member forming a central cavity, wherein the central cavity is configured to house one or more electrical components (1) configured to control the operation of the UAV, and (2) comprising at least a flight control module;

multiple branch housing members extending from the central body, with individual branch housing members comprising an upper branch housing member and a lower branch housing member;

at least one landing stand attached to the lower housing member at at least one corresponding attachment interface; and

a magnetometer carried by the at least one landing stand;

wherein the individual branch housing members are configured to support one or more actuator assemblies, with individual actuator assemblies comprising an actuator configured to provide thrust to the UAV in response to communications from the flight control module;

wherein at least a portion of the lower branch housing member of an individual branch housing member extends beneath at least a portion of a corresponding actuator assembly; and

wherein the upper branch housing members and the upper housing member form an integral upper body portion, the lower branch housing members and the lower housing member form an integral lower body portion, and the integral upper body portion and the integral lower body portion are removably coupled to form a hollow body portion comprising the central cavity.

8. The UAV of claim 7, wherein the at least one landing stand includes an attachment interface adjacent the housing, the attachment interface having an opening, and wherein the UAV further comprises a wire connected to the magnetometer and extending through the opening and into the cavity.

9. The UAV of claim 7, wherein the at least one landing stand is one of two landing stands, and wherein the UAV further comprises a gimbal and a camera carried by the gimbal, and wherein the camera and the gimbal are both positioned between the two landing stands.

10. A multi-rotor unmanned aerial vehicle (UAV), comprising:

a housing having an outer surface and an inner surface, the inner surface defining a cavity, the housing including;

an upper body portion formed from an upper central housing member and multiple upper branch housing members; and

a lower body portion attached to the upper body portion and formed from a corresponding lower central housing member and multiple corresponding lower branch housing members;

a flight control module positioned in the cavity;

at least one landing stand attached to the outer surface of the housing at at least one corresponding attachment interface;

a magnetometer attached to the at least one landing stand, and positioned at least 3 cm from the flight control module; and

multiple actuator assemblies, with individual actuator assemblies including an actuator and a rotor;

wherein individual upper branch housing members and corresponding individual lower branch housing members form individual branch housing members, and wherein individual actuator assemblies are located at corresponding individual branch housing members.

11. The UAV of claim 10, wherein the magnetometer includes a compass.

12. The UAV of claim 10, further comprising a carrier supporting a payload device.

13. The UAV of claim 12, wherein the at least one landing stand is one of two landing stands, and wherein the payload device includes a camera carried between the two landing stands.

14. The UAV of claim 10, wherein the landing stand includes an attachment interface adjacent the housing, the attachment interface having an opening, and wherein the UAV further comprises a wire connected to the magnetometer and extending through the opening and into the cavity.

15. The UAV of claim 10, further comprising an indicator light source carried by the housing.

16. The UAV of claim 10, wherein the individual upper branch housing members include corresponding openings, and wherein the actuators of the corresponding individual actuator assemblies extend upwardly though the corresponding openings.

17. The UAV of claim 10, wherein individual actuator assemblies are coupled to corresponding electronic speed controller (ESC) modules via corresponding wires.

18. The UAV of claim 17, wherein the ESC modules are carried by the corresponding individual branch housing members.

19. The UAV of claim 17, wherein the corresponding wires are carried by the corresponding individual branch housing members.

20. A multi-rotor unmanned aerial vehicle (UAV), comprising:

a housing having an outer surface and an inner surface, the inner surface defining a cavity, the housing having an “

X”

shaped arrangement and including;

an upper body portion integrally formed from an upper central housing member and multiple upper branch housing members; and

a lower body portion attached to the upper body portion and integrally formed from a corresponding lower central housing member and multiple corresponding lower branch housing members;

a flight control module positioned in the cavity;

a first landing stand attached to the outer surface of the housing at two corresponding attachment interfaces;

a second landing stand attached to the outer surface of the housing at two corresponding attachment interfaces;

a magnetometer attached to the first landing stand, and positioned at least 3 cm from the flight control module;

a wire connected to the magnetometer and extending through an opening in one of the attachment interfaces of the first landing stand, and into the cavity;

multiple actuator assemblies, with individual actuator assemblies including an actuator and a rotor, wherein an individual upper branch housing member and a corresponding individual lower branch housing member form an individual branch housing member, and wherein individual actuator assemblies are located at corresponding individual branch housing members; and

multiple electronic speed controller (ESC) modules, with individual ESC modules coupled to corresponding individual actuator assemblies via corresponding electrical wires.

21. The UAV of claim 20, wherein the magnetometer is carried by an upright portion of the first landing stand.

22. The UAV of claim 20, wherein the magnetometer is carried by a substantially vertical portion of the first landing stand.

23. The UAV of claim 20, further comprising an indicator light source carried by the housing.

24. The UAV of claim 23, wherein the indicator light source is positioned at a window of the lower body portion of the housing.

25. The UAV of claim 23, wherein the indicator light source is carried by one of the individual lower branch housing members.

26. The UAV of claim 20, further comprising one or more fasteners coupling the lower body portion and the upper body portion.

27. The UAV of claim 20, wherein the cavity includes a central cavity bounded in part by the upper central housing member and the lower central housing member, and wherein the multiple ESC modules are positioned in the central cavity.

28. The UAV of claim 27, wherein the multiple ESC modules are carried by the lower body portion of the housing.

29. The UAV of claim 20, wherein the individual upper branch housing members include corresponding openings, and wherein the actuators of the corresponding individual actuator assemblies extend upwardly though the corresponding openings.