Unmanned aerial vehicle with detachable computing device

• US 10,479,500 B2
• Filed: 08/21/2017
• Issued: 11/19/2019
• Est. Priority Date: 03/16/2015
• Status: Active Grant

• Current Assignee: xCraft Enterprises, Inc.
• Original Assignee: xCraft Enterprises, Inc.
• Inventors: Claridge, Jerry Daniel, Manning, Charles Fischer
• Primary Examiner(s): Jeanglaude, Gertrude Arthur
• Application Number:
  US15/681,835
• Publication Number:
  US 20180170539A1
• Time in Patent Office: 820 Days
• Field of Search: 701 3
• 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;

a plurality of arms movable between a stowed configuration and a flight-ready configuration;

a plurality of rotors, each coupled to a respective one of the plurality of arms;

at least one motor coupled to the plurality of rotors; and

a control management system;

a cradle coupled to the airframe for receiving a computing device, the cradle being adjustable to accommodate a plurality of different computing devices; and

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

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

adjust a position of the cradle with respect to the airframe, adjust a position of the plurality of arms, or a combination thereof, and 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 of claim 1, wherein the computing device comprises at least one of:

a smart phone;

a tablet;

or

an MP3 player.

4. The UAV of claim 1, further comprising at least one actuator configured to adjust the plurality of arms.

5. The UAV of claim 1, wherein the plurality of arms are adjustable in a range from 0 degrees to 210 degrees.

6. The UAV of claim 1, 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 of claim 6, 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;

or

an ultrasonic sensor.

8. The UAV of claim 1, wherein the control management system processes input from the computing device and adjusts the plurality of rotors to keep the UAV level.

9. The UAV of claim 1, wherein the control management system processes input from the computing device and adjusts the plurality of rotors to maintain a programmed flight path.

10. The UAV of claim 1, wherein the plurality of arms are fully retracted when in the stowed configuration.

11. The UAV of claim 10, wherein at least some of said plurality of arms are configured differently.

12. The UAV of claim 11, wherein said plurality of arms includes first and second pairs that are configured congruently with one another, and wherein arms within said first pair are sized or shaped differently than arms in said second pair.

13. An unmanned aerial vehicle (UAV) comprising:

an airframe, comprising;

at least one arm movable between a stowed orientation and a flight-ready orientation;

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

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

a flight control management system;

a cradle coupled to the airframe for accommodating a computing device; and

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

14. The UAV of claim 13, wherein the cradle is an adjustable cradle for accommodating a plurality of differently sized computing devices.

15. The UAV of claim 13, further comprising a computing device removably coupled to the cradle.

16. The UAV of claim 13, further comprising a plurality of arms each movable between a respective stowed orientation to a flight ready orientation.

17. The UAV of claim 16, wherein the plurality of arms are nested together when in the stowed orientation.

18. The UAV of claim 13, wherein at least some of said plurality of arms are configured differently.

19. The UAV of claim 18, wherein first and second pairs of said plurality of arms are configured congruently with one another, and wherein arms within said first pair are larger than arms in said second pair.

20. The UAV of claim 13, 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.

21. The UAV of claim 13, wherein the computing device comprises a flight plan, the flight plan being one or more waypoints.

22. The UAV of claim 13, wherein the flight 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, and wherein the adjustment is based upon a balance input from the flight control management system.

23. The UAV of claim 13, wherein the computing device comprises at least one of:

a smart phone;

a tablet;

or

an MP3 player.

24. The UAV of claim 13, wherein the computing device provides one or more waypoints and is configured to send signals associated with the one or more waypoints to the flight control management system, and responsive to receiving the signals associated with the one or more waypoints, the flight control management system directs the UAV to the one or more waypoints.

25. The UAV of claim 13, wherein the flight 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 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.

26. The UAV of claim 13, wherein the flight control management system is 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.