Adjustable weight distribution for drone

• US 9,469,394 B2
• Filed: 03/10/2015
• Issued: 10/18/2016
• Est. Priority Date: 03/10/2015
• Status: Active Grant

• Current Assignee: Qualcomm, Inc.
• Original Assignee: Qualcomm, Inc.
• Inventors: Vaughn, Brad Lee, Sweet, Charles Wheeler III, Kemler, Vincent, Shivnan, Aine Mary, Gondkar, Kaustubh Balkrishna, Wilson, James York, Taveira, Michael Franco, Hutson, Donald
• Primary Examiner(s): Cheung, Calvin
• Assistant Examiner(s): Martinez Borrero, Luis A
• Application Number:
  US14/643,070
• Publication Number:
  US 20160264234A1
• Time in Patent Office: 588 Days
• Field of Search: 701/1, 701/8, 701/117, 701/20, 701/23, 701/301, 701/533, 701/2, 244/17.11, 244/119, 244/13, 244/17.25, 244/46, 244/5, 705/45, 705/39, 705/12, 705/5
• US Class Current: 1/1
• CPC Class Codes: A63H 27/12 Helicopters A63H27/04 takes precedence; Flying tops
• CPC Class Codes: B64C 17/02 by gravity or inertia-actuated apparatus
• 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: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 2201/20 Remote controls
• CPC Class Codes: B64U 40/20 for in-flight adjustment of the base configuration
• CPC Class Codes: G05D 1/0011 associated with a remote control arrangement

Abstract

Apparatus, methods, and systems for adjusting a center of mass of a drone may include a balance track and a repositionable weight. The balance track may extend outwardly from a central region of the drone. The balance track may include a plurality of weight-balance fixation positions. The repositionable weight may be configured to be secured at any one of the plurality of weight-balance fixation positions. Various embodiments may include receiving a weight-distribution input relating to balancing the drone. A weight-distribution balance profile may be determined, based on the weight-distribution input, for determining whether a repositionable weight should be repositioned among a plurality of weight-balance fixation positions on a balance track extending outwardly from a central region of the drone. The repositionable weight may be repositioned according to the weight-distribution balance profile.

Claims

1. A weight distribution apparatus for adjusting a center of mass of a drone, comprising:

a first balance track extending outwardly from a central region of the drone, wherein the first balance track includes a plurality of predetermined weight-balance fixation positions; and

a repositionable weight configured to be secured at any one of the plurality of predetermined weight-balance fixation positions.

2. The weight distribution apparatus of claim 1, wherein the repositionable weight is slidable along the first balance track between the plurality of predetermined weight-balance fixation positions.

3. The weight distribution apparatus of claim 1, wherein the first balance track is disposed on an extension arm of the drone, the extension arm extending laterally from the central region, wherein a distal end of the extension arm supports an air propulsion unit.

4. The weight distribution apparatus of claim 3, wherein the repositionable weight wraps around at least a portion of the extension arm using an essential structural shape of the extension arm as the first balance track.

5. The weight distribution apparatus of claim 3, wherein the plurality of predetermined weight-balance fixation positions comprise a series of apertures extending through the extension arm.

6. The weight distribution apparatus of claim 1, wherein the repositionable weight is configured to ride along guide elements included on the first balance track.

7. The weight distribution apparatus of claim 1, wherein the repositionable weight includes an electronic component.

8. The weight distribution apparatus of claim 7, wherein the electronic component comprises at least one of an energy cell, an actuator, an indicator, a circuit element, a sensor, and a camera.

9. The weight distribution apparatus of claim 7, further comprising:

a control unit configured to activate the electronic component, wherein the control unit is fixed to the repositionable weight.

10. The weight distribution apparatus of claim 7, further comprising:

a control unit configured to activate the electronic component, wherein the control unit is remote from the repositionable weight.

11. The weight distribution apparatus of claim 7, further comprising a control unit configured to activate the electronic component, wherein the control unit comprises:

a radio frequency transceiver, and

a processor coupled to the radio frequency transceiver and configured with processor-executable instructions to activate a movement of the repositionable weight from a first one of the plurality of predetermined weight-balance fixation positions to a second one of the plurality of predetermined weight-balance fixation positions in response to receiving an activation signal via the radio frequency transceiver.

12. The weight distribution apparatus of claim 1, wherein the repositionable weight is removably secured to at least one of the plurality of predetermined weight-balance fixation positions.

13. The weight distribution apparatus of claim 12, wherein the plurality of predetermined weight-balance fixation positions are evenly distributed along a longitudinal extent of the first balance track.

14. The weight distribution apparatus of claim 1, further comprising:

a second balance track extending outwardly from the central region along a second axis that is different from a first axis of the first balance track.

15. The weight distribution apparatus of claim 14, wherein the first axis intersects the second axis at a non-orthogonal angle.

16. The weight distribution apparatus of claim 14, further comprising:

a third balance track extending away from the central region along a third axis that is different from both the first axis and the second axis.

17. The weight distribution apparatus of claim 14, wherein the first axis is parallel to the second axis.

18. The weight distribution apparatus of claim 14, wherein the first and second axes are not parallel to extension arms supporting rotors of the drone.

19. The weight distribution apparatus of claim 1, wherein the first balance track is configured to change length for changing the repositionable weight from a first one of the plurality of predetermined weight-balance fixation positions to a second one of the plurality of predetermined weight-balance fixation positions.

20. The weight distribution apparatus of claim 1, wherein the first balance track is configured to rotate about a vertical central axis of the drone.

21. The weight distribution apparatus of claim 1, wherein the drone is a multi-rotor helicopter.

22. The weight distribution apparatus of claim 1, wherein in response to a change in a weight-distribution balance profile of the drone, in which a payload is added to or removed from the drone, the plurality of weight-balance fixation positions are arranged such that repositioning of the repositionable weight to a different one of the plurality of predetermined weight-balance fixation positions restores the weight-distribution balance profile.

23. The weight distribution apparatus of claim 1, wherein the plurality of weight-balance fixation positions are arranged such that changing the repositionable weight from a first one of the plurality of predetermined weight-balance fixation positions to a second one of the plurality of predetermined weight-balance fixation positions changes the center of mass of the drone.

45. The weight distribution apparatus of claim 7, wherein the repositionable weight is configured to perform a function using the electronic component in addition to adjusting the center of mass of the drone.

24. A method of adjusting a center of mass of a drone, comprising:

receiving, in a processor, a weight-distribution input relating to balancing the drone, wherein a first balance track extends outwardly from a central region of the drone and a first repositionable weight is configured to be secured at any one of a plurality of predetermined weight-balance fixation positions included in the first balance track;

determining, in the processor, a weight-distribution balance profile based on the weight-distribution input;

determining, in the processor, whether the first repositionable weight should be repositioned;

outputting a signal from the processor to an actuator included on the drone, in response to determining that the first repositionable weight should be repositioned, for repositioning the first repositionable weight according to the weight-distribution balance profile; and

changing, by the actuator, a position of the first repositionable weight on the first balance track according to the determined weight-distribution balance profile in response to receiving the signal.

25. The method of claim 24, wherein the first repositionable weight is an electronic component.

26. The method of claim 25, wherein the electronic component is at least one of an energy cell, the actuator, an indicator, a circuit element, a sensor, and a camera.

27. The method of claim 24, wherein the weight-distribution input is received from a remote source.

28. The method of claim 24, wherein the signal causes the actuator to release the first repositionable weight for removal from the first balance track in order to conform to the weight-distribution balance profile.

29. The method of claim 24, wherein the signal causes the actuator to move the first repositionable weight along the first balance track between the plurality of predetermined weight-balance fixation positions.

30. The method of claim 24, wherein the signal causes the actuator to change a length of the first balance track in order to reposition the first repositionable weight from a first one of the plurality of predetermined weight-balance fixation positions to a second one of the plurality of predetermined weight-balance fixation positions.

31. The method of claim 24, wherein the signal causes the actuator to rotate the first balance track about a vertical central axis of the drone in order to change the first repositionable weight from a first one of the plurality of predetermined weight-balance fixation positions to a second one of the plurality of predetermined weight-balance fixation positions.

32. The method of claim 24, wherein the drone is a multi-rotor helicopter.

33. The method of claim 24, wherein the first repositionable weight is a payload temporarily carried by the drone.

34. The method of claim 24, further comprising:

repositioning the first repositionable weight to a different one of the plurality of predetermined weight-balance fixation positions in response to a change in the weight-distribution balance profile of the drone from a payload being added to or removed from the drone, wherein the plurality of predetermined weight-balance fixation positions are arranged such that repositioning the first repositionable weight restores the weight-distribution balance profile.

35. The method of claim 24, further comprising:

repositioning the first repositionable weight from a first one of the plurality of predetermined weight-balance fixation positions to a second one of the plurality of predetermined weight-balance fixation positions, wherein the plurality of predetermined weight-balance fixation positions are arranged such that repositioning the first repositionable weight changes the center of mass of the drone.

36. The method of claim 24, wherein the signal causes an indicator to indicate that the first repositionable weight should be repositioned.

37. The method of claim 36, wherein the signal causes the indicator to indicate that the first repositionable weight should be moved along the first balance track between the plurality of predetermined weight-balance fixation positions.

38. The method of claim 36, wherein the signal causes the indicator to indicate that the first repositionable weight should be removed from the first balance track in order to conform to the weight-distribution balance profile.

39. The method of claim 36, wherein the signal causes the indicator to indicate that a second repositionable weight should be added in order to conform to the weight-distribution balance profile.

40. The method of claim 36, wherein the signal causes the indicator to indicate that a length of the first balance track should be changed in order to change the first repositionable weight from a first one of the plurality of predetermined weight-balance fixation positions to a second one of the plurality of predetermined weight-balance fixation positions.

41. The method of claim 36, wherein the signal causes the indicator to indicate that the first balance track should be rotated about a vertical central axis of the drone in order to change the first repositionable weight from a first one of the plurality of predetermined weight-balance fixation positions to a second one of the plurality of predetermined weight-balance fixation positions.

42. The method of claim 36, wherein the indicator is on the drone.

43. The method of claim 36, wherein the indicator is remote from the drone.

46. The method of claim 24, wherein the repositionable weight is configured to perform a function using the electronic component in addition to adjusting the center of mass of the drone.

44. A weight distribution apparatus for adjusting a center of mass of a drone, comprising:

means for providing a plurality of predetermined weight-balance fixation positions, wherein the means for providing the plurality of predetermined weight-balance fixation positions comprises a first balance track extending outwardly from a central region of the drone, wherein the first balance track includes a plurality of predetermined weight-balance fixation positions;

a first repositionable weight configured to be secured at any one of the plurality of predetermined weight-balance fixation positions;

means for receiving a weight-distribution input relating to balancing the drone;

means for determining a weight-distribution balance profile based on the weight-distribution input;

means for outputting a signal, in response to determining the weight-distribution balance profile, to reposition the first repositionable weight according to the weight-distribution balance profile; and

means for changing a position of the first repositionable weight on the first balance track according to the determined weight-distribution balance profile in response to receiving the signal.

47. The weight distribution apparatus of claim 44, wherein the repositionable weight is configured to perform a function using the electronic component in addition to adjusting the center of mass of the drone.