MICRO UNMANNED AERIAL VEHICLE AND METHOD OF CONTROL THEREFOR
First Claim
1. A UAV containing a drive system for propelling the UAV through a spatial environment:
- a controller for controlling the drive system and overseeing operation of the UAV;
a multiplicity of sonar emitters associated with different axes of travel of the UAV, each sonar emitter producing a sonar lobe extending outwardly in a specified direction along each of said different axes of travel, the sonar lobes combining to encapsulate the UAV in a sonar bubble; and
a multiplicity of sonar detectors, each axis of travel associated with a plurality of sonar detectors, wherein the sonar detectors are coupled to the controller to permit the controller, in response to echoes reflected off objects within the sonar bubble, to interpret and then generate a 3-D image of the spatial environment in which the UAV is stationary or moving and within which spatial environment the objects are stationary or moving; and
whereinthe controller is configured or arranged automatically to moderate the drive system in response to an assessed position of objects in the 3-D image relative to the UAV such that the controller independently controls movement of the UAV through the spatial environment along each axes of travel.
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Accused Products
Abstract
A micro unmanned aerial vehicle or drone (“UAV”) 10 is remotely controlled through an HMI, although this remote control is supplemented by and selectively suppressed by an on-board controller. The controller operates to control the generation of a sonar bubble that generally encapsulates the UAV. The sonar bubble, which may be ultrasonic in nature, is produced by a multiplicity of sonar lobes generated by specific sonar emitters associated with each axis of movement for the UAV. The emitters produce individual and beamformed sonar lobes that partially overlap to provide stereo or bioptic data in the form of individual echo responses detected by axis-specific sonar detectors. In this way, the on-board controller is able to interpret and then generate 3-D spatial imaging of the physical environment in which the UAV is currently moving or positioned. The controller is therefore able to plot relative and absolute movement of the UAV through the 3-D space by recording measurements from on-board gyroscopes, magnetometers and accelerometers. Data from the sonar bubble can therefore both proactively prevent collisions with objects by imposing a corrective instruction to rotors and other flight control system and can also assess and compensate for sensor drift.
56 Citations
10 Claims
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1. A UAV containing a drive system for propelling the UAV through a spatial environment:
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a controller for controlling the drive system and overseeing operation of the UAV; a multiplicity of sonar emitters associated with different axes of travel of the UAV, each sonar emitter producing a sonar lobe extending outwardly in a specified direction along each of said different axes of travel, the sonar lobes combining to encapsulate the UAV in a sonar bubble; and a multiplicity of sonar detectors, each axis of travel associated with a plurality of sonar detectors, wherein the sonar detectors are coupled to the controller to permit the controller, in response to echoes reflected off objects within the sonar bubble, to interpret and then generate a 3-D image of the spatial environment in which the UAV is stationary or moving and within which spatial environment the objects are stationary or moving; and
whereinthe controller is configured or arranged automatically to moderate the drive system in response to an assessed position of objects in the 3-D image relative to the UAV such that the controller independently controls movement of the UAV through the spatial environment along each axes of travel. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method of controlling movement of a UAV through 3-D space, the method comprising:
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Generating a sonar bubble that substantially encapsulates the UAV, the sonar bubble assembled from overlapping beamformed sonar lobes produced from sonar pings emanating from a multiplicity of sonar emitters on the UAV, the sonar emitters associated with directions of movement of the UAV through the 3-D space; in response to echoes reflected off objects within the sonar bubble following production of said beamformed sonar lobes and as detected by a multiplicity of sonar detectors on the UAV, having a controller in the UAV interpret and then generate a 3-D image of the spatial environment in which the UAV is stationary or moving and within which spatial environment the objects are classified as stationary or moving; and having the controller independently and automatically control movement of the UAV through the spatial environment by applying direct control to a drive system tasked with effecting movement in each axis of travel. - View Dependent Claims (9, 10)
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Specification