Unmanned aerial vehicle with detachable computing device

• US 9,738,380 B2
• Filed: 03/16/2015
• Issued: 08/22/2017
• Est. Priority Date: 03/16/2015
• Status: Active Grant

• Current Assignee: xCraft Enterprises, Inc.
• Original Assignee: Xcraft Enterprises, LLC
• Inventors: Claridge, Jerry Daniel, Manning, Charles Fischer
• Primary Examiner(s): ARTHUR JEANGLAUD, GERTRUDE
• Application Number:
  US14/658,689
• Publication Number:
  US 20160376004A1
• Time in Patent Office: 890 Days
• Field of Search: 701 2, 701 3, 701 13, 701 14, 701 15, 701 16, 244175 R
• 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 19/00 Aircraft control not otherwise provided for
• 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 10/10 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 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 30/293 Foldable or collapsible rotors or rotor supports
• CPC Class Codes: B64U 50/19 using electrically powered motors
• CPC Class Codes: B64U 50/30 Supply or distribution of electrical power
• CPC Class Codes: B64U 50/31 generated by photovoltaics
• CPC Class Codes: B64U 50/37 Charging when not in flight
• CPC Class Codes: B64U 60/50 with landing legs
• CPC Class Codes: B64U 80/25 for recharging batteries; for refuelling
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/106 Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
• CPC Class Codes: G08G 5/045 : Navigation or guidance aids, e.g. determination of anti-collision manoeuvers radar or analogous systems specially adapted for anti-collision between aircraft G01S13/933
• CPC Class Codes: H04B 1/3833 : Hand-held transceivers

Abstract

This disclosure is generally directed to an Unmanned Aerial Device (UAV) that uses a removable computing device for command and control. The UAV may include an airframe with rotors and an adjustable cradle to attach a computing device. The computing device, such as a smart phone, tablet, MP3 player, or the like, may provide the necessary avionics and computing equipment to control the UAV autonomously. For example, the adjustable cradle may be extended to fit a tablet or other large computing device, or retracted to fit a smart phone or other small computing device. Thus, the adjustable cradle may provide for the attachment and use of a plurality of different computing devices in conjunction with a single airframe. Additionally the UAV may comprise adjustable arms to assist in balancing the load of the different computing devices and/or additional equipment attached to the airframe.

Claims

1. An unmanned aerial vehicle (UAV) comprising:

an airframe comprising;

one or more arms;

one or more rotors coupled to the one or more arms;

at least one motor coupled to the one or more rotors;

a control management system configured to;

receive an input from an ultrasonic sensor, the input comprising at least a distance to an obstacle;

calculate a closest point of approach to the obstacle based at least in part on a speed of the UAV and a route of flight;

determine a deviation in the route of flight necessary to avoid the obstacle;

responsive to the determination, deviate from the route of flight to avoid the obstacle; and

responsive to the obstacle avoidance, resume the route of flight;

a cradle coupled to the airframe, the cradle being adjustable to receive a computing device; and

a connector configured to connect the control management system to the computing device.

2. The UAV as claim 1 recites, wherein the control management system is configured to:

adjust a position of the cradle with respect to the airframe,

adjust a position of the one or more arms, or

a combination thereof,

wherein the adjustment is based at least in part on a balance input from the control management system, the balance input responsive to a relative position of the computing device with respect to the airframe.

3. The UAV as claim 1 recites, wherein the computing device comprises at least one of:

a smart phone;

a tablet;

or

an MP3 player.

4. The UAV as claim 1 recites, further comprising at least one actuator configured to adjust the one or more arms.

5. The UAV as claim 1 recites, wherein the one or more arms are adjustable in a range from 0 degrees to 210 degrees.

6. The UAV as claim 1 recites, the airframe further comprising one or more attachment modules, wherein the one or more attachment modules are configured to house one or more detachable components.

7. The UAV as claim 6 recites, wherein the one or more detachable components include one or more of:

a camera;

a strobe light;

an LED light;

an accelerometer;

a gyroscope;

a pressure sensor;

a position tracker;

a gesture sensor; and

an ultrasonic sensor.

8. The UAV as claim 1 recites, wherein the control management system processes input from the computing device and adjusts the one or more rotors to keep the UAV level.

9. The UAV as claim 1 recites, wherein the control management system processes input from the computing device and adjusts the one or more rotors to maintain a programmed flight path.

10. An unmanned aerial vehicle (UAV) comprising:

an airframe, the airframe comprising;

at least one arm;

at least one rotor coupled to the at least one arm;

at least one motor coupled to the at least one rotor;

a control management system configured to;

receive a plurality of inputs from an ultrasonic sensor, the plurality of inputs indicating a plurality of obstacles; and

calculate a route of flight based at least in part on the plurality of inputs, wherein the route of flight avoids the plurality of obstacles;

a cradle coupled to the airframe;

a computing device coupled to the cradle, wherein the computing device is decoupleable from the cradle; and

a connector configured to connect the flight computer to the computing device.

11. The UAV as claim 10 recites, further comprising a battery, wherein the UAV is configured to:

monitor a life of the battery;

calculate a return-to-base distance based at least in part on a distance to a base and the life of the battery; and

provide a return-to-base route at the return-to-base distance.

12. The UAV as claim 10 recites, wherein the computing device comprises a flight plan, the flight plan being one or more waypoints.

13. The UAV as claim 10 recites, wherein the control management system is configured to:

adjust a position of the cradle with respect to the airframe;

or

adjust a position of the at least one arm,

wherein the adjustment is based at least in part upon a balance input from the control management system.

14. The UAV as claim 10 recites, wherein the computing device comprises at least one of:

a smart phone;

a tablet;

or

an MP3 player.

15. The UAV as claim 10 recites, wherein the computing device comprises one or more waypoints and is configured to send signals associated with the one or more waypoints to the control management system, and responsive to receiving the signals associated with the one or more waypoints, the control management system is directs the UAV to the one or more waypoints.

16. The UAV as claim 10 recites, wherein the control management system is configured to:

receive an input from an ultrasonic sensor, the input comprising at least a distance to an obstacle;

calculate a closest point of approach to the obstacle based at least in part on a speed of the UAV and the route of flight;

determine a deviation in the route of flight necessary to avoid the obstacle;

responsive to the determination, deviate from the route of flight to avoid the obstacle; and

responsive to the obstacle avoidance, resume the route of flight.

17. A method for flying a first computing device in proximity to a second computing device, the method comprising:

coupling the first computing device to an airframe, the first computing device being detachable from the airframe;

determining, based at least in part on a setting of a control management system, a maximum distance to maintain from the first computing device to the second computing device, wherein the control management system is configured to control a motor and a rotor of the airframe;

launching, by the control management system, the airframe coupled to the first computing device;

establishing a connection between the first computing device and the second computing device, the connection being via a network;

maintaining, by the first computing device using a distance sensor and by the control management system, a distance between the first computing device and the second computing device, the distance being no greater than the maximum distance.

18. The method of claim 17, further comprising:

determining, based at least in part on input from the operator, a minimum distance from the first computing device to the second computing device; and

maintaining, by the first computing device using the distance sensor, the distance between the first computing device and the second computing device, the distance being no less than the minimum distance.

19. The method of claim 17, further comprising:

monitoring a life of a battery;

calculating a return-to-base distance based at least in part on a distance to a base and the life of the battery remaining; and

directing a flight of the airframe along a return-to-base route at the return-to-base distance.

20. The method of claim 17, further comprising:

adjusting a position of a cradle on the airframe, wherein the first computing device device is coupled to the airframe via the cradle.