Unmanned aerial vehicle and operations thereof

• US 9,233,754 B1
• Filed: 08/26/2015
• Issued: 01/12/2016
• 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
• Application Number:
  US14/836,344
• Publication Number:
  US 20160031558A1
• Time in Patent Office: 139 Days
• US Class Current: 1/1
• CPC Class Codes: A63H 27/12 Helicopters A63H27/04 takes precedence; Flying tops
• 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 27/54 Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement
• 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 2201/20 Remote controls
• 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), 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;

one or more branch housing members extending from the central body, the one or more branch housing members each comprising an upper branch housing member and a lower branch housing member,

wherein the one or more branch housing members are configured to support one or more actuator assemblies configured to effect movement of the UAV,

wherein the one or more upper branch housing members and the upper housing member form an integral upper body portion, the one or more 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;

one or more electrical components disposed inside the hollow body portion, wherein the one or more electrical components (1) are configured to control the operation of the UAV, and (2) comprise at least a flight control module and an inertial measurement unit (IMU); and

one or more electronic speed control (ESC) modules, each electrically coupled to a corresponding actuator assembly of the one or more actuator assemblies in order to control actuation of said corresponding actuator assembly,

wherein each ESC module is not located within the central cavity.

2. The UAV of claim 1, further comprising a magnetometer, wherein the magnetometer is located on a landing stand, wherein the landing stand is configured to bear weight of the UAV when the UAV is not airborne.

3. The UAV of claim 2, wherein the landing stand is attachable to the central body.

4. The UAV of claim 2, wherein the magnetometer comprises a compass.

5. The UAV of claim 2, wherein the landing stand comprises a vertical support portion and the magnetometer is located on the vertical support portion.

6. The UAV of claim 1, wherein each actuator assembly comprises a rotor blade and an actuator configured to actuate the rotor blade.

7. The UAV of claim 1, wherein the upper branch housing member and the lower branch housing member form a branch cavity, and wherein the central cavity and each branch cavity of the one or more branch housing members collectively form one unified cavity.

8. The UAV of claim 7, wherein each the upper branch housing member comprises a slot or opening for installing the actuator.

9. The UAV of claim 7, further comprising one or more connecting members disposed inside the one or more branch housing members, wherein the one or more connecting members are configured to electrically connect the one or more electrical components to the actuator assemblies supported by the one or more branch housing members.

10. The UAV of claim 1, further comprising a magnetometer located at least 4 cm away from the one or more ESC modules.

11. The UAV of claim 1, wherein each ESC module of the one or more ESC modules is electrically connected to the flight control module and the corresponding actuator assembly, wherein the flight control module is configured to provide control signals for the ESC modules, and wherein each ESC module is configured to provide actuator signals to the corresponding actuator assembly.

12. The UAV of claim 1, wherein the UAV comprises at least three actuator assemblies and at least three ESC modules.

13. The UAV of claim 1, wherein the UAV comprises four actuator assemblies and four ESC modules.

14. The UAV of claim 1, wherein each ESC module of the one or more ESC modules is operably connected to the flight control module to permit two-way communication between the flight control module and each ESC module.

15. The UAV of claim 1, further comprising a carrier supporting a payload device.

16. The UAV of claim 15, wherein the payload device is a camera.

17. The UAV of claim 15, wherein the payload device is located between at least two landing stands configured to bear weight of the UAV when the UAV is not airborne.

18. The UAV of claim 1, further comprising an indicator light source, wherein the indicator light source is positioned at an opening or window.

19. The UAV of claim 18, wherein the opening or the window is made of a transparent or semi-transparent material.

20. The UAV of claim 18, wherein the opening or window is on at least one branch housing member of the one or more branch housing members.

21. The UAV of claim 1, wherein the integral upper body portion and the integral lower body portion are connected to one another with aid of one or more fasteners.

22. The UAV of claim 1, wherein the central body comprises a receiving structure including an opening configured to accept and store a battery of the UAV.

23. The UAV of claim 22, wherein the opening comprises a corresponding cover member that is hingedly coupled to the central body.

24. The UAV of claim 1, further comprising a magnetometer is located at least 3 cm away from the one or more electrical components.

25. The UAV of claim 24, wherein a maximum distance between the magnetometer and the one or more electrical components is at most 0.5 meters.

26. The UAV of claim 24, wherein the one or more electrical components include the flight control module.

27. The UAV of claim 1, wherein the one or more electrical components comprises a GPS receiver.

28. The UAV of claim 27, further comprising a magnetometer, wherein the GPS receiver and the magnetometer are at least 3 cm apart.

29. The UAV of claim 1, wherein the UAV has a volume of less than 1 cubic meter.

30. The UAV of claim 1, wherein each ESC module is positioned in the integral lower body portion.

31. The UAV of claim 1, wherein each ESC module is positioned below the corresponding actuation assembly.