Unmanned aerial vehicle

• US 9,688,400 B2
• Filed: 10/29/2014
• Issued: 06/27/2017
• Est. Priority Date: 10/29/2014
• Status: Active Grant

• Current Assignee: Qualcomm, Inc.
• Original Assignee: Qualcomm, Inc.
• Inventors: Hutson, Donald Bolden
• Primary Examiner(s): Lee, Benjamin P
• Application Number:
  US14/526,790
• Publication Number:
  US 20160122015A1
• Time in Patent Office: 972 Days
• Field of Search: 244 2, 244 23 B, 244101, 244 123, 244 50, 244 21, 244 62, 446 34, 446 36
• CPC Class Codes: B60F 5/02 convertible into aircraft
• CPC Class Codes: B64C 37/00 Convertible aircraft
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• 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 20/40 Modular UAVs
• CPC Class Codes: B64U 2101/00 UAVs specially adapted for particular uses or applications
• CPC Class Codes: B64U 2101/64 for parcel delivery or retrieval
• CPC Class Codes: B64U 30/20 Rotors; Rotor supports
• CPC Class Codes: B64U 30/29 Constructional aspects of rotors or rotor supports; Arrangements thereof
• CPC Class Codes: B64U 30/299 Rotor guards ducted or shrouded rotors B64U30/26; guards used as ground propulsion B64U60/60
• CPC Class Codes: B64U 50/14 ducted or shrouded
• CPC Class Codes: B64U 50/19 using electrically powered motors
• CPC Class Codes: F41H 11/12 Means for clearing land minefields; Systems specially adapted for detection of landmines
• CPC Class Codes: F41H 11/28 using brushing or sweeping means or dozers to push mines lying on a surface aside; using means for removing mines intact from a surface

Abstract

Unmanned aerial vehicles and methods for providing the same are disclosed. The unmanned aerial vehicles may have various configurations related to a support frame. The unmanned aerial vehicles may have various configurations with a continuous track for ground propulsion. The unmanned aerial vehicles may have various configurations related to payload clamps.

Claims

1. An unmanned aerial vehicle comprising:

a frame portion comprising a first assembly, a second assembly, and a third assembly;

two or more air propulsion devices arranged on the first assembly, the air propulsion devices configured to propel the frame portion through the air; and

one or more ground propulsion devices configured to propel the frame portion along the ground;

wherein;

the third assembly is disposed between the first assembly and the second assembly;

the third assembly is coupled to the first assembly at a location of the first assembly between two of the air propulsion devices on the first assembly;

the first assembly comprises a generally rigid frame section that supports the two or more air propulsion devices at a fixed spacing relative to each other;

the first assembly has at least one annular shape; and

the two or more air propulsion devices are disposed in at least one opening in the at least one annular shape of the first assembly.

2. The unmanned aerial vehicle of claim 1,

wherein the third assembly is substantially perpendicular to the first assembly and the second assembly;

and

wherein the first assembly and the second assembly are substantially parallel to one another.

3. The unmanned aerial vehicle of claim 2,

wherein the third assembly has a longitudinal dimension;

and

wherein the longitudinal dimension of the third assembly is perpendicular to a first axis on which the air propulsion devices of the first assembly are supported.

4. The unmanned aerial vehicle of claim 2,

wherein the third assembly has a longitudinal dimension;

and

wherein the longitudinal dimension of the third assembly is perpendicular to a second axis on which the air propulsion devices of the second assembly are supported.

5. The unmanned aerial vehicle of claim 1,

wherein at least one of the one or more ground propulsion devices is coupled to the first assembly;

and

wherein at least one of the one or more ground propulsion devices is coupled to the second assembly.

6. The unmanned aerial vehicle of claim 5, further comprising:

two or more further air propulsion devices arranged on the second assembly; and

the third assembly is coupled to the second assembly at a location between two of the further air propulsion devices.

7. The unmanned aerial vehicle of claim 6,

wherein a first air propulsion device of the two or more air propulsion devices is provided on a first end of the at least one annular shape of the first assembly in a front direction;

wherein a second air propulsion device of the two or more air propulsion devices is provided on a second end of the at least one annular shape of the first assembly in a rear direction;

wherein a third air propulsion device of the two or more air propulsion devices is provided on a first end of the at least one annular shape of the second assembly in a front direction; and

wherein a fourth air propulsion device of the two or more air propulsion devices is provided on a second end of the at least one annular shape of the second assembly in a rear direction.

8. The unmanned aerial vehicle of claim 5,

wherein the second assembly has at least one annular shape and wherein the two or more further air propulsion devices are disposed in at least one opening in the at least one annular shape of the second assembly.

9. The unmanned aerial vehicle of claim 8,

wherein the at least one of the one or more ground propulsion devices coupled to the first assembly comprises a continuous track disposed around the at least one annular shape of the first assembly;

and

wherein the at least one of the one or more ground propulsion devices coupled to the second assembly comprises a continuous track disposed around the at least one annular shape of the second assembly.

10. The unmanned aerial vehicle of claim 9,

wherein the first assembly is formed in at least a second annular shape on at least the first plane;

and

wherein the second assembly is formed in at least a second annular shape on at least the second plane.

11. The unmanned aerial vehicle of claim 9, wherein the continuous track of the first assembly is around the two or more air propulsion devices of the first assembly;

and

the continuous track of the second assembly is around the two or more air propulsion devices of the second assembly.

12. The unmanned aerial vehicle of claim 8,

wherein the at least one annular shape of the first assembly and the at least one annular shape of the second assembly are configured to receive a battery inserted through an opening of the respective annular shape of the first assembly and the annular shape of the second assembly.

13. The unmanned aerial vehicle of claim 5,

wherein the at least one of the one or more ground propulsion devices coupled to the first assembly comprises a continuous track disposed around the first assembly;

and

wherein the at least one of the one or more ground propulsion devices coupled to the second assembly comprises a continuous track disposed around the second assembly.

14. The unmanned aerial vehicle of claim 1,

wherein the first assembly is attachable to and detachable from the third assembly;

and

wherein the second assembly is attachable to and detachable from the third assembly.

15. The unmanned aerial vehicle of claim 1,

wherein the first assembly is formed as a double wall structure;

wherein the second assembly is formed as a double wall structure;

wherein the first assembly supports wheels of at least one of the one or more ground propulsion devices between two walls of the double wall structure of the first assembly; and

wherein the second assembly supports wheels of at least one of the one or more ground propulsion devices between two walls of the double wall structure of the second assembly.

16. The unmanned aerial vehicle of claim 1,

wherein component pieces of the frame assembly are from a single sheet of a rigid source material;

and

wherein the rigid source material is printed circuit board.

17. The unmanned aerial vehicle of claim 16,

wherein one or more of the component pieces of the frame assembly include conductive tracks printed on the pieces;

and

wherein the conductive tracks provide an electrical connection between at least one of the air propulsion devices and a controller provided as part of the unmanned aerial vehicle.

18. The unmanned aerial vehicle of claim 1, wherein the third assembly is coupled to the second assembly at a location of the second assembly between two additional air propulsion devices on the second assembly.

19. The unmanned aerial vehicle of claim 1, wherein:

each of the one or more ground propulsion devices comprises a continuous track configured to move along an annular path having at least one axis;

the third assembly has a first dimension and a second dimension, the first dimension of the third assembly being greater than the second dimension of the third assembly; and

the first dimension of the third assembly is transverse to the at least one axis of the annular path.

20. The unmanned aerial vehicle of claim 1, wherein:

each of the one or more ground propulsion devices is configured to propel the frame portion in at least one first direction along the ground;

the first assembly has a lengthwise dimension extending along the first direction; and

the two or more air propulsion devices are spaced apart along the first direction, and the third assembly being coupled to the first assembly at the location along the first direction, between the spaced apart air propulsion devices.

21. The unmanned aerial vehicle of claim 1, wherein the first assembly comprises a generally rigid frame section that supports the two or more air propulsion devices at a fixed spacing relative to each other, the second assembly comprises a generally rigid frame section that supports two or more air propulsion devices at a fixed spacing relative to each other, and the third assembly is connected to each of the first and second assemblies at a location within a space between the two or more air propulsion devices on each of the first and second assemblies.

22. A method of manufacturing an unmanned aerial vehicle comprising:

providing a frame portion that comprises a first assembly, a second assembly, and a third assembly;

providing two or more air propulsion devices arranged on the first assembly configured to propel the frame portion through the air; and

providing one or more ground propulsion devices, the one or more ground propulsion devices configured to propel the frame portion along the ground;

wherein;

the third assembly is disposed between and coupled to the first assembly and the second assembly;

the third assembly is coupled to the first assembly at a location of the first assembly between two of the air propulsion devices on the first assembly;

the first assembly comprises a generally rigid frame section that supports the two or more air propulsion devices at a fixed spacing relative to each other;

the first assembly has at least one annular shape; and

the two or more air propulsion devices are disposed in at least one opening in the at least one annular shape of the first assembly.

23. The method of manufacturing an unmanned aerial vehicle of claim 22,

wherein at least one of the one or more ground propulsion devices is coupled to the first assembly;

wherein at least one of the one or more ground propulsion devices is coupled to the second assembly;

wherein the first assembly is formed in at least one annular shape on at least a first plane; and

wherein the second assembly is formed in at least one annular shape on at least a first plane.

24. The method of manufacturing an unmanned aerial vehicle of claim 23,

wherein the two or more air propulsion devices are disposed in an opening of the at least one annular shape of the first assembly.

25. The method of manufacturing an unmanned aerial vehicle of claim 22,

wherein the at least one of the one or more ground propulsion devices coupled to the first assembly comprises a continuous track disposed around the first assembly.

26. An unmanned aerial vehicle comprising:

frame means comprising a first assembly, a second assembly, and a third assembly;

air propulsion means comprising two or more air propulsion devices arranged on the first assembly, the air propulsion devices configured to propel the frame means through the air; and

ground propulsion means for propelling the frame means along the ground;

wherein;

the third assembly is disposed between the first assembly and the second assembly;

the third assembly is coupled to the first assembly at a location of the first assembly between two of the air propulsion means on the first assembly;

the first assembly comprises a generally rigid frame section that supports the two or more air propulsion devices at a fixed spacing relative to each other

the first assembly has at least one annular shape; and

the two or more air propulsion devices are disposed in at least one opening in the at least one annular shape of the first assembly.

27. An unmanned aerial vehicle comprising:

a frame portion comprising a first assembly, a second assembly, and a third assembly;

two or more air propulsion devices arranged on the first assembly, the air propulsion devices configured to propel the frame portion through the air; and

one or more ground propulsion devices configured to propel the frame portion along the ground;

wherein;

the third assembly is disposed between the first assembly and the second assembly;

the third assembly is coupled to the first assembly at a location of the first assembly between two of the air propulsion devices on the first assembly

a first propeller of a first air propulsion device of the two or more air propulsion devices on the first assembly defines a first circular area of rotation;

a second propeller of a second air propulsion device of the two or more air propulsion devices on the first assembly defines a second circular area of rotation;

the location at which the third assembly is coupled to the first assembly is between and outside of the first circular area of rotation and the second circular area of rotation

the first assembly has at least one annular shape; and

at least one of the first circular area of rotation or the second circular area of rotation is disposed in at least one opening in the at least one annular shape of the first assembly.

28. An unmanned aerial vehicle comprising:

a frame portion comprising a first assembly, a second assembly, and a third assembly;

two or more air propulsion devices arranged on the first assembly, the air propulsion devices configured to propel the frame portion through the air; and

one or more ground propulsion devices configured to propel the frame portion along the ground;

wherein;

the third assembly is disposed between the first assembly and the second assembly;

the third assembly is coupled to the first assembly at a location of the first assembly between two of the air propulsion devices on the first assembly

a first air propulsion device of the two or more air propulsion devices on the first assembly comprises a first propeller guard;

a second air propulsion device of the two or more air propulsion devices on the first assembly comprises a second propeller guard; and

the location at which the third assembly is coupled to the first assembly is between the first propeller guard and the second propeller guard

the first assembly has at least one annular shape; and

at least one of the first propeller guard or the second propeller guard is disposed in at least one opening in the at least one annular shape of the first assembly.

29. The unmanned aerial vehicle of claim 28, wherein the third assembly contacts one or more of the first propeller guard and the second propeller guard.