Systems and methods for UAV battery exchange

• US 9,139,310 B1
• Filed: 09/24/2014
• Issued: 09/22/2015
• Est. Priority Date: 08/08/2014
• 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, Mingxi
• Primary Examiner(s): Ellis, Christopher P
• Application Number:
  US14/495,696
• Time in Patent Office: 363 Days
• Field of Search: 244/53.R, 244/135.A, 244/1.R, 244/2, 244/17.11, 244/54, 244/129.1
• US Class Current: 1/1
• CPC Class Codes: B60L 2200/10 Air crafts
• CPC Class Codes: B60L 2220/42 with use of more than one motor
• CPC Class Codes: B60L 2240/667 Precipitation
• CPC Class Codes: B60L 2250/16 by display
• CPC Class Codes: B60L 53/14 Conductive energy transfer
• CPC Class Codes: B60L 53/30 Constructional details of charging stations
• CPC Class Codes: B60L 53/31 Charging columns specially adapted for electric vehicles
• CPC Class Codes: B60L 53/80 Exchanging energy storage elements, e.g. removable batteries
• CPC Class Codes: B60L 58/12 responding to state of charge [SoC]
• CPC Class Codes: B64C 39/02 characterised by special use
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64F 1/007 Helicopter portable landing pads
• CPC Class Codes: B64F 1/0297 adjustable to align with aircraft trajectory
• CPC Class Codes: B64F 1/18 Visual or acoustic landing aids taxiing aids B64F1/002
• CPC Class Codes: B64F 1/20 Arrangement of optical beacons
• CPC Class Codes: B64F 1/36 Other airport installations ground installations for de-icing aircraft B64F5/20
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 30/20 Rotors; Rotor supports
• CPC Class Codes: B64U 50/19 using electrically powered motors
• CPC Class Codes: B64U 50/34 In-flight charging photovoltaics B64U50/31
• CPC Class Codes: B64U 50/39 : Battery swapping
• CPC Class Codes: B64U 60/50 : with landing legs
• CPC Class Codes: B64U 70/90 : Launching from or landing on platforms
• CPC Class Codes: G05D 1/0011 : associated with a remote control arrangement
• CPC Class Codes: G05D 1/102 : specially adapted for vertical take-off of aircraft
• CPC Class Codes: Y02T 10/64 : Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/70 : Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/7072 : Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
• CPC Class Codes: Y02T 10/72 : Electric energy management in electromobility
• CPC Class Codes: Y02T 90/12 : Electric charging stations
• CPC Class Codes: Y02T 90/14 : Plug-in electric vehicles
• CPC Class Codes: Y02T 90/16 : Information or communication technologies improving the operation of electric vehicles

Abstract

Systems and methods are provided for swapping the battery on an unmanned aerial vehicle (UAV). The UAV may be able to identify and land on an energy provision station autonomously. The UAV may take off and/or land on the energy provision station. The UAV may communicate with the energy provision station. The energy provision station may store and charge batteries for use on a UAV.

Claims

1. An unmanned aerial vehicle (UAV) energy provision station, said station comprising:

a UAV landing area configured to support a UAV when the UAV is resting on the station, said UAV coupled to a first battery configured to power the UAV;

a second battery in said station, said second battery capable of powering the UAV upon being coupled to the UAV;

a battery charging unit capable of charging the first battery of the UAV; and

one or more processors, individually or collectively configured to receive, via wireless communication, information about a state of charge of the first battery and generate an instruction (a) prior to landing of the UAV on the UAV landing area, and (b) depending on the state of charge of the first battery, to effect a selection between;

(1) exchanging the second battery for the first battery such that the first battery is decoupled from the UAV and the second battery is coupled to the UAV, and (2) charging the first battery with the battery charging unit, thereby allowing rapid battery replacement or charging of the UAV for its operation.

2. The UAV energy provision station of claim 1, wherein the UAV is capable of taking off from the station vertically.

3. The UAV energy provision station of claim 1, wherein the UAV comprises a recessed region, the second battery being configured to be inserted into the recessed region to couple to the UAV and provide power to the UAV.

4. The UAV energy provision station of claim 1, wherein the UAV comprises a recessed region into which the first battery is inserted to couple to the UAV and provide power to the UAV, the battery charging unit being configured to charge the first battery while the first battery is inserted in the recessed region.

5. The UAV energy provision station of claim 1, wherein the UAV landing area comprises visible markers configured to aid the UAV in landing.

6. The UAV energy provision station of claim 5, wherein the visible markers comprise images, wherein the images aid a UAV in landing when the UAV recognizes a particular image indicative that the UAV is to land.

7. The UAV energy provision station of claim 5, wherein the visible markers comprises LED lights, wherein the LED lights flash in a specific spatial or temporal pattern that the UAV recognizes at the specific spatial or temporal pattern that is indicative that the UAV is to land.

8. The UAV energy provision station of claim 1, wherein the UAV wirelessly transmits the information about the state of charge of the first battery to the station using a transmitter on board the UAV.

9. The UAV energy provision station of claim 1, wherein the one or more processors are individually or collectively configured to generate the instruction to exchange the second battery with the first battery when the state of charge of the first battery is beneath a predetermined threshold value.

10. The UAV energy provision station of claim 9, wherein the one or more processors are individually or collectively configured to generate the instruction to charge the first battery with the battery charging unit when the state of charge of the first battery is above the predetermined threshold value.

13. The UAV energy provision station of claim 1, further comprising:

a movable battery storage unit comprising a plurality of holding stations configured to collectively store a plurality of batteries, including the second battery, capable of powering the UAV upon being coupled to the UAV, wherein the movable battery storage section is configured to permit simultaneous movement of the plurality of holding stations relative to the UAV landing area; and

a battery replacement member configured to take the second battery from a holding station of the movable battery storage unit, and couple the second battery to the UAV.

14. The UAV energy provision station of claim 13, wherein the movable battery storage unit comprises a carousel configuration for the plurality of holding stations.

15. The UAV energy provision station of claim 14, wherein the carousel comprises a plurality of holding stations configured to receive a battery.

16. The UAV energy provision station of claim 15, wherein the plurality of holding stations are configured to rotate around an axis rotation.

17. The UAV energy provision station of claim 16, wherein the axis of rotation is oriented in a horizontal direction.

18. The UAV energy provision station of claim 13, wherein the movable battery storage unit comprises at least four holding stations.

19. The UAV energy provision station of claim 13, wherein the movable battery storage unit comprises a battery charging unit capable of charging at least one battery in a holding station.

20. The UAV energy provision station of claim 5, wherein the visible markers are asymmetric and are configured to be indicative of an orientation of the UAV landing area relative to the UAV.

21. The UAV energy provision station of claim 13, wherein the battery replacement member is a mechanical elevator, and wherein the mechanical elevator is also configured to decouple the first battery from the UAV.

22. The UAV energy provision station of claim 21, wherein the mechanical elevator comprises a robotic arm clamp configured to grasp the first battery to decouple the first battery from the UAV, and wherein the mechanical elevator effects horizontal movement to decouple the first battery from the UAV.

23. The UAV energy provision station of claim 9, wherein the predetermined threshold value is variable as a function of battery age of the first battery, battery type of the first battery, flight conditions, ambient temperature, or distance to the next energy provision station.

11. A method of providing energy to an unmanned aerial vehicle (UAV), said method comprising:

providing an energy provision station, said energy provision station comprising;

a UAV landing area configured to support a UAV when the UAV is resting on the station, said UAV coupled to a first battery configured to power the UAV;

a second battery in said station, said second battery capable of powering the UAV upon being coupled to the UAV; and

a battery charging unit capable of charging the first battery of the UAV;

receiving information, at one or more processors of the station, about a state of charge of the first battery; and

generating, with aid of the one or more processors, an instruction (a) prior to landing of the UAV on the UAV landing area, and (b) depending on the state of charge of the first battery, to effect a selection between;

(1) exchanging the second battery for the first battery such that the first battery is decoupled from the UAV and the second battery is coupled to the UAV, and (2) charging the first battery with the battery charging unit, thereby allowing rapid battery replacement or charging of the UAV for its operation.

12. The method of claim 11, further comprising:

(1) exchanging the second battery for the first battery such that the first battery is decoupled from the UAV and the second battery is coupled to the UAV, or (2) charging the second battery with the battery charging unit, in accordance with the generated instructions.

24. The method of claim 12, wherein the second battery and the first battery are exchanged when the state of charge of the first battery is beneath a predetermined threshold value.

25. The method of claim 24, wherein the first battery is charged with the battery charging unit when the state of charge of the first battery is above the predetermined threshold value.

26. The method of claim 24, further comprising varying the predetermined threshold value based on battery age of the first battery, battery type of the first battery, flight conditions, ambient temperature, or distance to the next energy provision station.

27. The method of claim 11, wherein the instruction to effect the selection between (1) and (2) is generated also depending on an amount of time to perform (1), or an amount of time to perform (2) with the state of charge of the first battery.

28. The method of claim 27, wherein the instruction effects a selection of (1) when the amount of time to perform (1) is less than the amount of time to perform (2), and wherein the instruction effects a selection of (2) when the amount of time to perform (2) is less than the amount of time to perform (1).

29. The method of claim 11, wherein the UAV landing area comprises a visible marker configured to aid the UAV in landing, and wherein the visible marker is asymmetric and is configured to be indicative of an orientation of the UAV landing area relative to the UAV.

30. The method of claim 11, wherein the UAV is capable of taking off from the station vertically.