Unmanned aerial vehicle and operations thereof

• US 10,196,137 B2
• Filed: 06/11/2018
• Issued: 02/05/2019
• 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 B.
• Application Number:
  US16/005,309
• Publication Number:
  US 20180281935A1
• Time in Patent Office: 239 Days
• 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 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 27/08 with two or more rotors
• 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: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• 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 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;

a plurality of branch housing members extending from the central body, each comprising an upper branch housing member and a lower branch housing member, the plurality of upper branch housing members and the upper housing member forming an integral upper body portion, the plurality of lower branch housing members and the lower housing member forming an integral lower body portion, the integral upper body portion and the integral lower body portion coupled together to form a hollow body portion defining a central cavity and a plurality of branch cavities, wherein the plurality of branch housing members are configured to support a plurality of actuator assemblies, the actuator assemblies being configured to product thrust, wherein the branch housing members and the central body collectively form an “

X”

shaped arrangement with the central body located at the center of the “

X”

shaped arrangement and the branch housing members being distributed around the central body in a symmetric fashion;

one or more electrical components comprising at least a flight control module and a wireless transceiver, the flight control module and the wireless transceiver disposed inside the central cavity;

a plurality of electronic speed control (ESC) modules, each electrically coupled to a corresponding actuator assembly of the plurality of actuator assemblies and to the flight control module, in order to control an actuator of the corresponding actuator assembly to effect movement of the UAV, wherein the thrust of the plurality of actuator assemblies is oriented in a vertical direction relative to the central body;

a plurality of electrical wires disposed inside the branch housing members, wherein individual wires of the plurality of electrical wires are configured to electrically connect a corresponding one of the plurality of ESC modules and a corresponding one of the plurality of actuator assemblies;

a landing stand extending from the integral lower body portion, wherein the landing stand is configured to bear weight of the UAV when the UAV is not airborne, the landing stand comprising two substantially vertical support portions which are connected by a substantially horizontal connecting portion;

a magnetometer located on one of the vertical support portion of the landing stand, wherein the magnetometer is at a distance of at least 3 cm and no more than 0.5 m away from the one or more electrical components; and

an indicator light source, wherein the indicator light source is positioned at a window, wherein the window is made of a transparent or semi-transparent material, and the window is on a branch housing member of the one or more branch housing members;

wherein the one of the vertical support portions has an attachment interface comprising one or more opening configured to accommodate wires connecting the magnetometer and other components; and

wherein the plurality of actuator assemblies comprises four actuator assemblies and four ESC modules.

2. The UAV of claim 1, wherein the landing stand is attached to the central body.

3. The UAV of claim 1, wherein the magnetometer comprises a compass.

4. The UAV of claim 1, wherein each of the upper branch housing members comprises a slot or opening for installing the corresponding actuator.

5. The UAV of claim 1, wherein each ESC module of the plurality of 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 module, and wherein each ESC module is configured to provide actuator signals to the corresponding actuator assembly.

6. The UAV of claim 1, wherein each ESC module is located in a respective branch cavity.

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

8. The UAV of claim 7, wherein the flight control module is configured to provide a control signal for each ESC module, which in turn are configured to provide actuator signals to the corresponding actuators, and wherein each ESC module is configured to provide a feedback signal to the flight control module.

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

10. The UAV of claim 9, wherein the landing stand is a first landing stand, and wherein the UAV further comprises a second landing stand, and wherein the first and second landing stands are configured to bear weight of the UAV when the UAV is not airborne, the payload device being a camera carried between the first and second landing stands.

11. The UAV of claim 1, wherein the integral upper body portion and the integral lower body portion are coupled to one another via one or more fasteners.

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

13. The UAV of claim 1, wherein the plurality of ESC modules are located within the central cavity.

14. The UAV of claim 1, wherein the one or more electrical components include a GPS receiver, the GPS receiver and the magnetometer being at least 3 cm apart.

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

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

17. The UAV of claim 1, wherein at least a portion of each of the lower branch housing members extends beneath at least a portion of the corresponding actuator.

18. The UAV of claim 1, wherein at least a portion of each of the lower branch housing members extends at least a portion of the corresponding actuator.