System and method for multi-oriented flight

Abstract

Systems and methods for multi-oriented flight are provided. A drone (UAV) can fly in a first orientation and a second orientation that can be different from the first orientation. For example, the drone can include one or more electronic speed control (ESC) units (1204a, 1204b) that can control a direction of rotation of one or more propulsion units (1206a) in accordance with an orientation of the drone to generate lift of the drone. The one or more propulsion units (1206a) can include a protective cover that can protect one or more rotating components of the propulsion units (1206a) when the drone is on a landing surface in the first orientation or the second orientation. The drone can change orientation on the landing surface or in flight in response to a sensed condition and / or an instruction from a remote user.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicles (UAVs), and more particularly to a system and method for multi-directional flight. Background Technology

[0002] For example, unmanned aerial vehicles (UAVs) have wide practical applications in areas including surveillance, reconnaissance, exploration, logistics, disaster relief, aerial photography, large-scale agricultural automation, and real-time video broadcasting. In some cases, due to various factors such as severe weather conditions, collisions with other objects or terrain, or UAV malfunctions, the orientation of the UAV may be interfered with. This may cause the UAV to be in an upside-down position during flight or after a crash. In most cases, the UAV may not be able to fly and / or take off from an upside-down or tilted position. The user may need to manually change the UAV's orientation to a face-up position to allow takeoff. This can be inconvenient for the user to restart the UAV, especially when the UAV is far from the user, or in a location unknown or inaccessible to the user. Summary of the Invention

[0003] There is a need to improve systems and methods for flying aircraft such as unmanned aerial vehicles (UAVs). Multi-orientation flight can be provided for the aircraft, allowing the UAV to take off, land, or fly in different orientations. For example, the UAV may be able to fly in a first orientation and a second orientation. In some embodiments, the first and second orientations may be laterally opposite to each other. For example, in some cases, the UAV may be upside down in the first orientation and face up when in the second orientation. By changing the rotational direction and / or speed of one or more propulsion units of the UAV to change the direction of lift generation, the UAV can adapt to different flight orientations. One or more electronic speed control (ESC) units can help change the rotational direction and / or speed of the propulsion units. In some embodiments, the propulsion units may be protected by one or more protective shields. The protective shields can be used to protect one or more components of the propulsion unit from impacts from external surfaces. Components of the propulsion unit may include rotor blades and / or actuators (e.g., motors). The use of protective shields allows the UAV to land on a landing surface without damaging the propulsion unit. This is particularly useful in crash landing scenarios where the orientation of the UAV landing on the surface may be unknown. The systems and methods described herein allow unmanned aerial vehicles (UAVs) to take off from a landing surface, regardless of the UAV's orientation on that surface. The landing surface can be flat, inclined, or curved. In some cases, the landing surface can be a rough surface with undulating terrain.

[0004] In one aspect of the invention, a method for operating a drone (UAV) is provided. The method may include: providing signals to control one or more propulsion units, thereby controlling the rotational directions of a first set of rotating components and a second set of rotating components of the one or more propulsion units, wherein when the UAV is in a first orientation, the first set of rotating components is configured to rotate along a first direction and the second set of rotating components is configured to rotate along a second direction; and when the UAV is in a second orientation opposite to the first orientation, the first set of rotating components is configured to rotate along the second direction and the second set of rotating components is configured to rotate along the first direction; and protecting the one or more propulsion units with one or more protective shields to prevent direct contact between the propulsion units and external objects.

[0005] In some embodiments, the method may further include controlling the orientation of a first set of rotating components and a second set of rotating components of one or more propulsion units to generate lift for the drone. In some embodiments, the method may further include generating lift when the drone takes off from the underlying surface, either in a first orientation or a second orientation. In some cases, the height of the one or more protective shields is greater than the height of the drone body. In some cases, the height of the one or more protective shields is greater than the height of the one or more propulsion units. In some cases, when the drone is in the first orientation, a first portion of the one or more protective shields contacts the underlying surface, and when the drone is in the second orientation, a second portion of the one or more protective shields contacts the underlying surface. In some cases, the first and second portions of the one or more protective shields are laterally opposite each other relative to a horizontal plane passing through the drone body. In some cases, when the drone is in the first orientation, the second portion is positioned above the body in the direction of lift generated by the one or more propulsion units. In some cases, when the drone is in the second orientation, the first portion is positioned above the body in the direction of lift generated by the one or more propulsion units.

[0006] In some cases, each of the one or more protective shields forms a channel surrounding a corresponding propulsion unit in the one or more propulsion units. In some cases, each protective shield includes a sleeve in which a propulsion unit is disposed. In some cases, when the UAV is positioned on the underlying surface, the one or more protective shields allow one or more rotating components of the one or more propulsion units to rotate in a first or second direction. In some cases, signals are provided by one or more electronic speed controllers (ESCs) to one or more corresponding propulsion units, the ESCs being configured to individually control the speed of one or more corresponding rotating components of the one or more propulsion units. In some cases, signals from the one or more ESCs are configured to cause the UAV to change orientation between a first orientation and a second orientation. In some cases, the one or more rotating components include rotor blades.

[0007] In some cases, the primary orientation is with the drone upside down. In some cases, the secondary orientation is with the drone face up. In some cases, the drone can take off from the underlying surface in both primary and secondary orientations. In some cases, the drone can hover or fly in both primary and secondary orientations. In some cases, one or more protective covers serve as the drone's landing gear.

[0008] In another aspect of the invention, an unmanned aerial vehicle (UAV) is disclosed herein. The UAV may include: one or more propulsion units configured to generate lift for the UAV, the one or more propulsion units including a first set of rotating components and a second set of rotating components, wherein, when the UAV is in a first orientation, the first set of rotating components is configured to rotate along a first direction and the second set of rotating components is configured to rotate along a second direction; and when the UAV is in a second orientation opposite to the first orientation, the first set of rotating components is configured to rotate along the second direction and the second set of rotating components is configured to rotate along the first direction; one or more processors, wherein the one or more processors are configured to individually or jointly control the orientation of the first set of rotating components and the second set of rotating components of the one or more propulsion units; and one or more protective shields to prevent the one or more propulsion units from directly contacting external objects.

[0009] In some cases, lift is generated when the UAV takes off from the underlying surface, either in a first or second orientation. In some cases, the height of the one or more protective shields is greater than the height of the UAV body. In some cases, the height of the one or more protective shields is greater than the height of the one or more propulsion units. In some cases, when the UAV is in the first orientation, a first portion of the one or more protective shields contacts the underlying surface, and when the UAV is in the second orientation, a second portion of the one or more protective shields contacts the underlying surface. In some cases, the first and second portions of the one or more protective shields are laterally opposite each other relative to a horizontal plane passing through the UAV body. In some cases, when the UAV is in the first orientation, the second portion is positioned above the body in the direction of lift generated by the one or more propulsion units. In some cases, when the UAV is in the second orientation, the first portion is positioned above the body in the direction of lift generated by the one or more propulsion units.

[0010] In some cases, each of the one or more protective shields forms a channel around a corresponding propulsion unit in the one or more propulsion units. In some cases, each protective shield includes a sleeve in which a propulsion unit is disposed. In some cases, when the UAV is on the underlying surface, the one or more protective shields allow one or more rotating components of the one or more propulsion units to rotate in a first or second direction. In some cases, one or more processors are located in one or more electronic speed control units or flight controllers. In some cases, signals from the one or more processors are configured to cause the UAV to change orientation between a first orientation and a second orientation. In some cases, the one or more rotating components include rotor blades.

[0011] In some cases, the primary orientation is with the drone upside down. In some cases, the secondary orientation is with the drone face up. In some cases, the drone can take off from the underlying surface in both primary and secondary orientations. In some cases, the drone can hover or fly in both primary and secondary orientations. In some cases, one or more protective covers serve as the drone's landing gear.

[0012] In another aspect of the invention, a method for operating a drone (UAV) is provided herein. The method may include: generating a signal, using one or more processors, that causes the drone to flip from a first orientation to a second orientation opposite to the first orientation; and, in response to the signal, performing the flipping of the drone from the first orientation to the second orientation using one or more propulsion units.

[0013] In some cases, while the drone is on the underlying surface, it flips from a first orientation to a second orientation opposite to the first. In some cases, the method further includes acquiring data indicating user input to initiate the flip from the first orientation to the second orientation. In some cases, the user input is received at a remote terminal of the drone. In some cases, the terminal transmits the user input to the drone via a wireless connection. In some cases, the method further includes acquiring data from one or more sensors to initiate the flip from the first orientation to the second orientation. In some cases, one or more sensors are on the drone. In some cases, one or more sensors detect the drone's orientation. In some cases, the drone's first orientation is upside down. In some cases, the drone's second orientation is face up.

[0014] In some cases, the drone includes one or more protectors to prevent one or more propulsion units from directly contacting the underlying surface. In some cases, after flipping to the second orientation, the drone remains on the underlying surface for at least a period of time. In some cases, the method further includes: after the drone flips from the first orientation to the second orientation, taking off from the underlying surface by means of one or more propulsion units. In some cases, the method further includes enabling the drone to fly in the second orientation. In some cases, the drone flips from the first orientation to the second orientation opposite to the first orientation when one or more sensors detect that the drone has reached a threshold condition. In some cases, one or more sensors are on the drone. In some cases, one or more sensors are configured to detect whether the drone has reached the threshold condition during flight. In some cases, the threshold condition is reached during the drone's flight. In some cases, the threshold condition is the drone's height relative to the underlying surface. In some cases, the threshold condition is the drone's velocity or acceleration relative to the underlying surface. In some cases, the velocity or acceleration is the drone's vertical velocity or acceleration relative to the underlying surface. In some cases, the threshold condition is the power supplied to one or more propulsion units or the power consumed by one or more propulsion units. In some cases, the threshold condition is the amount of time elapsed since the drone took off from the underlying surface. In some cases, one or more sensors are on the drone. In some cases, one or more propulsion units allow the drone to take off from the underlying surface, regardless of the surface's orientation relative to gravity. In some cases, the first orientation is that the drone is upside down. In some cases, the second orientation is that the drone is face up.

[0015] In some cases, the drone includes one or more protectors to prevent one or more propulsion units from directly contacting the underlying surface. In some cases, a signal instructs a user input to initiate a roll of the drone. In some cases, the user input is provided via the drone's remote user terminal. In some cases, the signal is generated at the user terminal and transmitted from the user terminal to the drone via one or more communication channels. In some cases, the user input for initiating a roll only initiates a roll and not other actions of the drone. In some cases, a roll of the drone from a first orientation to a second orientation results in a change of at least 170 degrees in the drone's orientation. In some cases, the user input is a single action to achieve a roll of the drone from the first orientation to the second orientation. In some cases, the single action is selecting a button or touchscreen on the drone's remote terminal. In some cases, the single action is flipping a switch on the drone's remote terminal. In some cases, the single action is a verbal command registered by the drone's remote terminal. In some cases, the single action is a change in attitude of the drone's remote terminal. In some cases, the signal instructing the user input is acquired when the drone is on the underlying surface. In some cases, the signal instructing the user input is acquired while the drone is in flight. In some cases, the first orientation is the drone being upside down. In some cases, the second orientation is with the drone facing upwards. In some cases, the drone includes one or more protectors to prevent one or more propulsion units from directly contacting the underlying surface.

[0016] In another aspect of the invention, an unmanned aerial vehicle (UAV) is disclosed herein. The UAV may include: one or more processors, individually or collectively configured to generate a signal that causes the UAV to flip from a first orientation to a second orientation opposite to the first orientation; and one or more propulsion units that, in response to the signal, enable the UAV to flip from the first orientation to the second orientation.

[0017] In some cases, the drone flips from a first orientation to a second orientation opposite to the first orientation while the drone is on the underlying surface. In some cases, one or more processors are configured to acquire data indicating user input to initiate the drone's flip from the first orientation to the second orientation. In some cases, the user input is received at a remote terminal of the drone. In some cases, the terminal transmits the user input to the drone via a wireless connection. In some cases, one or more processors are configured to acquire data from one or more sensors to initiate the drone's flip from the first orientation to the second orientation. In some cases, one or more sensors are on the drone. In some cases, one or more sensors detect the drone's orientation. In some cases, the drone's first orientation is upside down. In some cases, the drone's second orientation is face up.

[0018] In some cases, the drone includes one or more protectors to prevent one or more propulsion units from directly contacting the underlying surface. In some cases, the drone remains on the underlying surface for at least a period of time after flipping to the second orientation. In some cases, one or more propulsion units are configured to enable the drone to take off from the underlying surface after flipping from the first orientation to the second orientation. In some cases, one or more propulsion units are configured to enable the drone to fly in the second orientation. In some cases, the drone flips from the first orientation to the second orientation opposite to the first orientation when one or more sensors detect that the drone has reached a threshold condition. In some cases, one or more sensors are on the drone. In some cases, one or more sensors are configured to detect whether the drone has reached the threshold condition during flight. In some cases, the threshold condition is reached during the drone's flight. In some cases, the threshold condition is the drone's height relative to the underlying surface. In some cases, the threshold condition is the drone's velocity or acceleration relative to the underlying surface. In some cases, the velocity or acceleration is the drone's vertical velocity or acceleration relative to the underlying surface. In some cases, the threshold condition is the power supplied to one or more propulsion units or the power consumed by one or more propulsion units. In some cases, the threshold condition is the amount of time elapsed since the UAV took off from the underlying surface. In some cases, one or more sensors are on the UAV. In some cases, one or more propulsion units allow the UAV to take off from the underlying surface regardless of the orientation of the underlying surface relative to the direction of gravity. In some cases, the first orientation is that the UAV is upside down. In some cases, the second orientation is that the UAV is face up.

[0019] In some cases, the drone includes one or more protectors to prevent one or more propulsion units from directly contacting the underlying surface. In some cases, a signal instructs a user input to initiate a roll of the drone. In some cases, the user input is provided via a remote user terminal of the drone. In some cases, the signal is generated at the user terminal and transmitted from the user terminal to the drone via one or more communication channels. In some cases, the user input for initiating a roll only initiates a roll and not other actions of the drone. In some cases, a roll of the drone from a first orientation to a second orientation results in a change of at least 170 degrees in the drone's orientation. In some cases, the user input is a single action to achieve a roll of the drone from the first orientation to the second orientation. In some cases, the single action is selecting a button or touchscreen on the drone's remote terminal. In some cases, the single action is flipping a switch on the drone's remote terminal. In some cases, the single action is a verbal command registered by the drone's remote terminal. In some cases, the single action is a change in attitude of the drone's remote terminal. In some cases, the signal instructing the user input is acquired when the drone is on the underlying surface. In some cases, the signal instructing the user input is acquired while the drone is in flight. In some cases, the first orientation is the drone being upside down. In some cases, the second orientation is with the drone facing upwards. In some cases, the drone includes one or more protectors to prevent one or more propulsion units from directly contacting the underlying surface.

[0020] It should be understood that different aspects of the invention can be understood individually, collectively, or in combination. The various aspects of the invention described herein can be applied to any specific application set forth below, or to any other type of drone. Any description of the aircraft herein is applicable to and can be used with any drone, for example, any carrier vehicle. Furthermore, the devices and methods disclosed herein for aerial motion (e.g., flight) can also be applied to other types of motion, such as motion on land or water, underwater motion, or space motion.

[0021] Other objects and features of the invention will become apparent from reading the specification, claims, and drawings.

[0022] Citing Join

[0023] All publications, patents and patent applications mentioned in this specification are incorporated herein by reference to the extent that each individual publication, patent or patent application is expressly and individually indicated to be incorporated herein by reference in its entirety. Attached Figure Description

[0024] The novel features of the invention are particularly set forth in the appended claims. The features and advantages of the invention will be better understood by referring to the following detailed description of illustrative embodiments in which the principles of the invention are utilized, and the accompanying drawings of these illustrative embodiments are provided:

[0025] Figure 1 An example of a multi-directional unmanned aerial vehicle (UAV) according to an embodiment of the present invention is shown.

[0026] Figure 2 A schematic diagram of a drone changing orientation on a horizontal landing surface according to an embodiment of the present invention is shown.

[0027] Figure 3 A schematic diagram of a drone with different flip heights and radii according to an embodiment of the present invention is shown.

[0028] Figure 4 A schematic diagram is shown of a drone changing its orientation as it flips from the landing surface into mid-air, according to an embodiment of the present invention.

[0029] Figure 5 A schematic diagram is shown of a drone changing its orientation in flight in response to a detected threshold condition, according to an embodiment of the present invention.

[0030] Figure 6 A schematic diagram illustrating a drone changing its orientation during flight according to an embodiment of the present invention is shown.

[0031] Figure 7 A schematic diagram is shown illustrating how a drone changes its orientation when it flips from an upwardly tilted surface to a horizontal landing surface, according to an embodiment of the present invention.

[0032] Figure 8 A schematic diagram is shown illustrating how a drone changes its orientation when it flips from an inclined surface into mid-air, according to an embodiment of the present invention.

[0033] Figure 9 A schematic diagram is shown illustrating how a drone, according to an embodiment of the present invention, flips from a downwardly tilted surface to a horizontal landing surface to change its orientation.

[0034] Figure 10 A schematic diagram is shown illustrating how a drone, according to an embodiment of the present invention, changes its orientation when it flips from a downward-sloping surface into mid-air.

[0035] Figure 11 A schematic diagram is shown of a drone changing its orientation in response to a user command, according to an embodiment of the present invention.

[0036] Figure 12A schematic diagram of a flight control system for a drone capable of changing its orientation according to an embodiment of the present invention is shown.

[0037] Figure 13 A schematic diagram is shown showing the rotation direction of the propulsion unit of the UAV when the UAV is in different orientations according to an embodiment of the present invention.

[0038] Figure 14 A schematic diagram of a drone capable of flipping along the diagonal of its central body, according to an embodiment of the present invention, is shown.

[0039] Figure 15 A schematic diagram of a drone according to an embodiment of the present invention is shown, which is capable of rotating about a plurality of axes defined relative to the central body of the drone.

[0040] Figure 16 Illustrations of various components of a drone according to embodiments of the present invention are provided.

[0041] Figure 17 A schematic block diagram of a system for controlling a movable object according to an embodiment of the present invention is shown. Detailed Implementation

[0042] This document provides systems and methods for enabling multi-orientation flight, takeoff, and landing of aircraft. For example, an unmanned aerial vehicle (UAV) may be supported by one or more propulsion units configured to generate lift for the aircraft. Any description of a UAV herein is applicable to any type of aircraft or UAV, and vice versa. A UAV is capable of flying in a first orientation and a second orientation different from the first orientation. The second orientation can be the opposite of the first orientation. For example, when the UAV is in the first orientation, it may be in a face-up position, and when the UAV is in the second orientation, it may be in an upside-down position. A UAV can be configured to take off, land, and / or fly in both the first and second orientations. This can be particularly useful in situations where the UAV may land or crash onto a surface in an uncontrolled manner. In some cases, the UAV may land on a surface in an upside-down orientation, a face-up orientation, or an inclined orientation. Regardless of the orientation of the UAV when it lands on the surface, the UAV disclosed herein can take off again from the surface.

[0043] A drone can change its orientation under various circumstances. For example, a drone can change orientation while on a landing surface. In some cases, a drone can take off to fly after changing orientation. In another example, a drone can take off from a landing surface and then change orientation in mid-air (during flight) in response to a detected threshold condition. In some cases, a drone can change orientation in response to a user command. This can happen while the drone is on a landing surface or in flight. This can allow the drone to change orientation to adapt to various situations. Any combination of automatic, semi-automatic, or manual flight commands can be used to control the drone to change its orientation. This advantageously allows both novice and advanced users to control the drone to change its flight orientation for various situations.

[0044] Changes in the orientation of a drone can be achieved by controlling the operation of one or more propulsion units of the drone. The propulsion units of the drone may include rotatable components (e.g., rotor blades) that can rotate in different directions and at different speeds. For example, when the drone is in a first orientation, the propulsion unit may rotate in a first direction to generate lift for the drone, and when the drone is in a second orientation, it may rotate in a second direction opposite to the first direction to generate lift for the drone. One or more electronic speed controllers (ESCs) may communicate with one or more propulsion units to control the operation of the propulsion units. For example, an ESC control unit may control the direction of rotation and / or speed of rotation of one or more rotor blades of the propulsion unit. Any description of rotor blades used elsewhere in this document may also be applied to rotors, and vice versa.

[0045] A protective shield can be provided for the propulsion unit of a drone. The shield protects the rotating components of the propulsion unit from external impacts. For example, when the drone lands on the underlying surface, the shield prevents the rotating components of the propulsion unit from contacting the surface. The shield can be configured to surround the rotating components of the propulsion unit and act as a housing for them. By using the shield, the drone's rotors can rotate freely even if the drone lands upside down or sideways. This is particularly advantageous because drones may land unpredictably in various orientations or in different types of environments, allowing drones to take off in various orientations when landing.

[0046] Figure 1 An exemplary embodiment of a multi-orientational unmanned aerial vehicle (UAV) according to an embodiment of the present invention is shown. The UAV may include a body 102 configured to support one or more propulsion units 103. The propulsion units may be used to generate a downward thrust 120, thereby generating lift 118 or thrust on the UAV.

[0047] Each propulsion unit 103 may include a set of rotating components. Each set of rotating components may include one or more rotor blades 110a, 110b capable of rotating in two directions. The two directions may be opposite to each other. For example, the first direction may be clockwise, and the second direction may be counterclockwise. One or more rotor blades 110a, 110b of the same rotating component or propulsion unit may be actuated by one or more actuators or motors. One or more rotor blades 110a, 110b of the same propulsion unit may be connected to a hub 128 and configured to rotate about an axle. Each propulsion unit may also include a support structure 108 for one or more: rotor blades 110a, 110b, actuators, and optionally a hub. For example, a propulsion unit may include two rotor blades actuated by the same motor.

[0048] The rotor blades can be configured to rotate in different directions to generate lift for the drone or change its orientation. For example, the drone can be configured to fly in a first orientation 100a when the first set of rotor blades rotates in a first direction and the second set of rotor blades rotates in a second direction opposite to the first direction. Conversely, the drone can be configured to fly in a second orientation 100b when the first set of rotor blades rotates in the second direction and the second set of rotor blades rotates in the first direction. The drone can take off and fly in either the first orientation 100a or the second orientation 100b. After the drone takes off from a surface, it can change its orientation from the first orientation 100a to the second orientation 100b while in mid-air (e.g., during flight). The change of orientation can be triggered by predetermined conditions. In some cases, the change of orientation can be performed autonomously or semi-autonomously without user intervention.

[0049] In various embodiments, this document discloses one or more propulsion units (e.g., configured to generate lift for the drone) that comprise the drone. Figure 1 The drone may have 4 propulsion units. In some cases, the drone may include 2, 4, 6, 8, 10, 12, 14, or any other number of propulsion units. One or more propulsion units may include a first set of rotating components 110a (along the first diagonal 124 of the drone) and a second set of rotating components 110b (along the second diagonal 126 of the drone). When the drone is in the first orientation (100a), the first set of rotating components (e.g., 4 propulsion units) Figure 13 1 or 3 in the first direction can be configured to rotate along the first direction and the second set of rotating components (e.g. Figure 13Components 2 or 4) are configured to rotate in a second direction, and when the UAV is in a second orientation (100b) opposite to the first orientation, the first set of rotating components is configured to rotate in the second direction and the second set of rotating components is configured to rotate in the first direction. The first and second diagonals lie in the xy plane and are not parallel to the pitch axis (x-axis) and roll axis (y-axis). The first or second diagonal may be tilted from approximately 10 degrees to approximately 80 degrees relative to the pitch or roll axis. In some cases, the first and second directions may include clockwise and counterclockwise directions. For example, the UAV may be upside down when in the first orientation and face up when in the second orientation.

[0050] In some cases, each propulsion unit is directly attached to the outer surface of the central body 102. Alternatively, each propulsion unit can be attached to the central body via an arm extending from the outer surface of the central body. One end of the arm can be attached to the outer surface of the central body via one or more joints. The other end of the arm can be configured to support the propulsion unit. The joints can fix the arm to the central body, thereby allowing the arm to move together with the central body as a whole.

[0051] A protective cover 106 may be provided to protect each propulsion unit from impact or damage. The protective cover 106 prevents the propulsion unit and its components from contacting external objects or surfaces. Each protective cover may have a top edge 114 and a bottom edge 116. The drone may be in a first orientation 100a or a second orientation 100b. The drone may be configured to fly or hover in either orientation (100a or 100b). The top edge may face upwards in the second orientation, while the bottom edge may face downwards in the second orientation. The first and second orientations may be opposite to each other. The protective cover may be a component separate from the propulsion unit. In some other embodiments, the protective cover may be part of the propulsion unit. The protective cover may be releasably attached to the body of the drone. Optionally, the protective cover may be integrally formed with the body of the drone. In some cases, the protective cover may be directly attached to the body of the drone.

[0052] The drone may include one or more protective shields 106 to prevent one or more propulsion units from directly contacting external objects. In some cases, the height h of the one or more protective shields 106 is... pc The height h is greater than 102 of the drone body. b ( Figure 16 In some cases, the height h of one or more protective shields pc The height is greater than that of one or more propulsion units (e.g., rotors 110a, 110b, and the height h of the motor and support structure 108). rb ()( Figure 16In some cases, each of one or more protective shields 106 forms a channel surrounding a corresponding propulsion unit in one or more propulsion units. The channel structure may surround the propulsion unit on its sides while exposing its top and bottom. This structure may allow and / or facilitate the generation of lift 118 through the top and bottom of the channel structure. In some cases, each protective shield includes a sleeve in which a propulsion unit is disposed. The channel or sleeve of the protective shield may have a diameter sufficient to allow a set of rotating components to be enclosed therein and rotate in two directions. In some cases, when the UAV is on the underlying surface, one or more protective shields allow one or more rotating components of one or more propulsion units to rotate in a first direction or a second direction. The rotating components may include rotors (or multiple rotor blades), a set of rotors, and / or motors actuating the rotors.

[0053] The drone may include one or more processors configured to individually or jointly control the direction and speed of a first set of rotating components and a second set of rotating components of one or more propulsion units. In some cases, the one or more processors are located in one or more ESC units and / or flight controllers. In alternative embodiments, the one or more processors are located in or away from the drone's central body. In some cases, the processors may be configured to generate signals to control one or more propulsion units. In some cases, signals from the one or more processors are configured to cause the drone to change orientation between a first orientation and a second orientation.

[0054] The drone may include one or more sensors. Any sensor used to collect environmental information can be used, including position sensors (e.g., GPS sensors, mobile device transmitters that perform position triangulation), visual sensors (e.g., imaging devices capable of detecting visible, infrared, or ultraviolet light, such as cameras), proximity sensors (e.g., ultrasonic sensors, lidar, time-of-flight cameras), inertial sensors (e.g., accelerometers, gyroscopes, inertial measurement units (IMUs)), altitude sensors, pressure sensors (e.g., barometers), audio sensors (e.g., microphones), or field sensors (e.g., magnetometers, electromagnetic sensors). Any number and combination of sensors can be used, such as one, two, three, four, five, or more sensors. Optionally, data can be received from different types of sensors (e.g., two, three, four, five, or more types). Different types of sensors can measure different types of signals or information (e.g., position, orientation, velocity, acceleration, proximity, pressure, etc.) and / or acquire data using different types of measurement techniques. For example, a sensor may include any combination of active sensors (e.g., sensors that generate and measure energy from their own source) and passive sensors (e.g., sensors that detect available energy).

[0055] Sensor data can provide various types of environmental information. For example, sensor data can indicate the type of environment, such as indoor, outdoor, low-altitude, or high-altitude. Sensor data can also provide information about current environmental conditions, including weather (e.g., sunny, rainy, snowy), visibility conditions, wind speed, and time of day. Furthermore, the environmental information collected by sensors can include information about objects in the environment, such as buildings or obstacles.

[0056] In some embodiments, one or more sensors may include one or more of the following: a GPS sensor, an inertial sensor, a vision sensor, a lidar sensor, an ultrasonic sensor, a barometer, or an altimeter. One or more sensors may include multiple different sensor types. One or more sensors may include a GPS sensor, and the environment type may be determined based on multiple GPS satellites communicating with the GPS sensor. One or more sensors may include a lidar sensor, and the environment type may be determined based on time-of-flight data acquired by the lidar sensor. One or more sensors may include a vision sensor, and the environment type may be determined based on image data acquired by the vision sensor, such as the exposure time associated with the image data acquired by the vision sensor.

[0057] In some embodiments, at least some sensors may be configured to provide data about the state of the drone. The state information provided by the sensors may include information about the spatial layout of the drone (e.g., positional information such as longitude, latitude, and / or altitude; orientation information such as roll, pitch, and / or yaw). The state information may also include information about the motion of the drone (e.g., translational velocity, translational acceleration, angular velocity, angular acceleration, etc.). For example, the sensors may be configured to determine the spatial layout and / or motion of the drone with respect to up to six degrees of freedom (e.g., three degrees of freedom for position and / or translation, and three degrees of freedom for orientation and / or rotation). The state information may be provided relative to a global frame of reference or relative to a frame of reference of another entity. For example, the sensors may be configured to determine the distance between the drone and the user and / or the drone's starting flight point.

[0058] Sensing data provided by one or more sensors can be used to control the spatial layout, speed, and rotation direction of each set of blades, the rotation direction of one or more propulsion units, the rotational speed of each set of rotor blades, and / or the orientation of the UAV (e.g., by using digital signal processing equipment, processors, and / or control modules). Optionally, sensors can be used to provide data about the UAV's surrounding environment, such as weather conditions, proximity to potential obstacles, location of geographic features, location of man-made structures, wind speed, wind direction, rain speed, temperature, etc. This environmental data may be data about up to three translational degrees of freedom and up to three rotational degrees of freedom.

[0059] The drone may include at least one communication device. The communication device can communicate with a remote terminal via wireless signals. The communication device may include any number of digital processors, software modules, transmitters, receivers, and / or transceivers for wireless communication. Communication may be unidirectional, allowing data to be sent to or from the drone in only one direction. For example, unidirectional communication may involve only the drone sending data to a terminal, and vice versa. Data may be sent from one or more transmitters of the communication device to one or more receivers of the communication system, and vice versa. Alternatively, communication may be bidirectional, allowing data to be sent between the drone and the terminal in both directions. Bidirectional communication may involve sending data from one or more transmitters of the communication system to one or more receivers of the terminal, and vice versa. The communication device may be located in any part of the drone; for example, in the body 102, protective cover 106, rotors 110a, 110b, and / or support structure 108.

[0060] In some embodiments, the drone may include a remote terminal. The terminal may be a remote control device located away from the drone. The terminal may be mounted or fixed to a support platform. Optionally, the terminal may be a handheld device or a wearable device. In some cases, the terminal may include a smartphone, tablet, laptop, computer, glasses, gloves, helmet, microphone, or a combination thereof. The terminal may include a user interface, such as a keyboard, mouse, joystick, touchscreen, or display. Any user input may be used to interact with the terminal, such as manually entered commands, voice control, gesture control, or position control (e.g., movement, positioning, or tilting via the terminal).

[0061] The terminal can be used to control any state of the drone, carrier, and / or payload. For example, the terminal can be used to control the position and / or orientation of the drone, carrier, and / or payload relative to a fixed reference to each other. In some embodiments, the terminal can be used to control individual elements of the drone, carrier, and / or payload, such as one or more actuators, one or more propulsion units, sensors, or landing gear. The terminal may include wireless communication devices adapted to communicate with one or more of the drone, carrier, or payload, or with individual elements within the drone.

[0062] The terminal may include a display unit for viewing information about the drone, carrier, and / or payload. For example, the terminal may be configured to display information about the drone, carrier, and / or payload regarding: position, translational velocity, translational acceleration, orientation, angular velocity, angular acceleration, angular momentum, remaining battery power, rotor blade speed, rotor blade rotation frequency, rotor blade rotation direction, drone orientation, or any combination thereof. In some embodiments, the terminal may display information provided by the payload, such as data provided by a functional payload (e.g., images recorded by a camera or other image-capturing device).

[0063] Optionally, the same terminal can control the drone, carrier, and / or payload, or the state of the drone, carrier, and / or payload, and receive and / or display information from the drone, carrier, and / or payload. For example, the terminal can control the drone's orientation relative to the environment while displaying data captured by one or more sensors or information about the drone's position. Optionally, different terminals can be used for different functions. For example, a first terminal can control the movement or state of the drone, carrier, and / or payload, while a second terminal can receive and / or display information from the drone, carrier, and / or payload. For example, the first terminal can be used to control the drone's orientation relative to the environment, while the second terminal displays data captured by one or more sensors. Various communication modes can be used between the drone and the integrated terminal that controls the drone and receives data, or between the drone and multiple terminals that control the drone and receive data. For example, at least two different communication modes can be formed between the drone and a terminal that both controls the drone and receives data from it.

[0064] The drone may have at least a first flight orientation 100a and a second flight orientation 100b. The first and second flight orientations may be opposite to each other. In some cases, the first orientation is that the drone is upside down. In some cases, the second orientation is that the drone is face up. In some cases, the drone is capable of taking off from the underlying surface with both the first and second orientations. In some cases, the drone is capable of hovering or flying with both the first and second orientations. The first and second flight orientations may have a difference of approximately 10, 20, 30, 40, 50, 60, 70, 80, 90, 100, 110, 120, 130, 140, 150, 160, 170, 180, 190, 200, 210, 220, 230, 240, 250, 260, 260, 270, 280, 290, 300, 310, 320, 330, 340, or 350 degrees. For example, in a flight orientation with the plane facing upwards, the first part of the shield (e.g., top edge 114) may face generally upwards and be further away from the ground than the second part of the shield (e.g., bottom edge 116). Conversely, in a flight orientation with the plane upside down, the first part of the shield (e.g., top edge 114) may face generally downwards and be closer to the ground than the second part of the shield (e.g., bottom edge 116).

[0065] As another example, in a front-up flight orientation, the top surface 130 of rotor blades 110a, 110b may face generally upwards and be further from the ground than the bottom surface 132 of the rotor blades. Conversely, in an upside-down flight orientation, the top surface 130 of the rotor blades may face generally downwards and be closer to the ground than the bottom surface 132 of the rotor blades. In some embodiments, one of the first and second orientations may be a common or more frequently used flight orientation for the drone, while the other may be a less common or less frequently used flight orientation for the drone. For example, the second orientation (where the drone faces upwards) may be more common, while the first orientation (where the drone is upside down) may be less common. In some cases, when the drone first takes off, the first portion of the drone's protective shield may face upwards and the second portion of the protective shield may face downwards. In other cases, when the drone first takes off, the first portion of the drone's protective shield may face downwards and the second portion of the protective shield may face upwards.

[0066] In some embodiments, the first flight orientation 100a and the second flight orientation 100b may be substantially non-parallel to each other. They may be substantially non-parallel when the first and second orientations are substantially opposite to each other, differing by approximately 180 degrees. The first and second flight orientations may have any angular difference ranging from 1 degree to approximately 359 degrees. The first and second flight orientations may differ from each other by at least approximately 30, 45, 60, 90, 120, 135, 150, 180, 210 degrees, etc. (e.g., ...). Figure 6-10 As an example, in the first flight orientation, the drone can be parallel to the horizontal ( Figure 1 The rotor blades can be positioned in the xy plane, with the top surface facing upwards and the bottom surface facing downwards. In the second flight orientation, the UAV can tilt 30 degrees relative to the horizontal plane, with the right side of the UAV higher than the left side relative to the horizontal plane, and the front and rear sides of the UAV at the same height (e.g., in the xy plane). Figure 6 Alternatively, in a face-up orientation, each propulsion unit of the UAV may have a different height from an external object (e.g., ground, water surface). In this embodiment, the pitch, roll, and / or yaw axes of the UAV may be tilted relative to the horizontal plane or the lift direction.

[0067] A drone can have any number of possible flight orientations. Each pair of possible flight orientations may be substantially different from each other. Each pair of possible flight orientations may not be substantially parallel to each other. When the first orientation 100a and the second orientation 100b are substantially opposite to each other by approximately 180 degrees, the two drones with different flight orientations may appear similar after the drone changes its orientation. A drone can change its orientation, for example, by rotating from one orientation to another about its plane of symmetry. A drone may have a roll axis ( Figure 1 The y-axis (in the diagram) is the axis of symmetry extending from its front side to its rear side. In other words, the UAV can move along the pitch axis (...). Figure 1 The x-axis in the diagram is symmetrical about left and right. Optionally, when the UAV has a pitch axis (... Figure 1 When the x-axis (in the diagram) extends from its left to right along its axis of symmetry, two different flight orientations can appear similar to each other. In other words, the drone can appear similar along its roll axis (the x-axis). Figure 1 The y-axis in the diagram is symmetrical. When the UAV has a y-axis ( Figure 1 When the z-axis (the axis of symmetry) is drawn from its top to its bottom, two different flight orientations can appear similar. As an example, a drone facing upwards looks similar to a drone upside down.

[0068] The protective shield can be along the yaw axis ( Figure 1 The rotor blades are symmetrical about their top and bottom edges (z-axis). When viewed from above the drone, the rotor blades can rotate in the same clockwise or counterclockwise direction when the drone is upside down. Alternatively, the rotor blades can rotate in the opposite direction when the drone is upside down. The central body can be positioned about the horizontal plane ( Figure 1 The rotor blades are symmetrical about the xy plane. A first distance from the rotor blades to the top edge of the protective shield may be approximately the same as a second distance from the rotor blades to the bottom edge of the protective shield. Alternatively, the first and second distances may be approximately different. In some cases, the first distance may be greater than the second distance. Alternatively, the first distance may be less than the second distance. In some cases, the UAV has at least one, two, or three planes of symmetry. When there are two or more planes of symmetry, these planes may be orthogonal to each other. These planes may be tilted relative to each other. As an example, the plane of symmetry of the UAV may be parallel to the horizontal plane (xy plane). Figure 1 The plane of symmetry of the UAV can be the xy-plane (or the top and bottom surfaces of the central body), located at the midpoint of the central body's height. As another example, the UAV's plane of symmetry can be parallel to the right or left side of the central body and located at the midpoint of the central body's width. In other words, the UAV's plane of symmetry can be parallel to... Figure 1 The plane of symmetry is either the yz plane or the xz plane. As another example, the plane of symmetry of the drone can be orthogonal to the right or left side of the central body and located at the midpoint of the central body's length. In some cases, the plane of symmetry can actually divide the drone into two parts with the same number of the same type of components (e.g., propulsion units, rotor blades, arms, motors). In some cases, the plane of symmetry can actually divide the drone and one or more of its components into two halves. As an example, a plane of symmetry from the front right to the rear left of the drone can divide two propulsion units into four halves.

[0069] In some embodiments, the drone (or one or more components thereof) may be asymmetrical in shape, weight, or density about the drone's axis of rotation. In those embodiments, the drone may appear different when it changes from a first orientation to a second orientation. As an example, the drone may look different when it is upside down compared to when it is face up. The protective canopy may have an asymmetrical shape from its top edge to its bottom edge (about the horizontal plane). When the drone is upside down, the rotor blades may or may not rotate in the same clockwise or counterclockwise direction. The central body may be asymmetrical from its top surface to its bottom surface (about the horizontal plane). The rotor blades may have different distances from the top and bottom edges of the protective canopy. The drone may include a structural shape that exists only on the bottom or top surface of the protective canopy. The drone may include landing gear that exists only on the bottom side of the drone. The drone may use different materials on its bottom and top. The drone may have a central body shape that is symmetrical about a plane of rotation, which can be any three-dimensional plane.

[0070] The drone may use one or more sensing units to sense its orientation or changes in orientation. The sensing units may be sensors disclosed herein. The sensing units may be any number of sensors. The sensing units may be located on or outside the drone. The sensing units may be located in any part of the drone, such as in the body 102, protective housing 106, rotors 110a, 110b, and / or support structure 108. In some cases, the sensing units are a combination of any number of sensors on the drone and any number of sensors outside the drone.

[0071] Any sensor used to collect environmental information can be used, including position sensors (e.g., GPS sensors, mobile device transmitters that perform position triangulation), visual sensors (e.g., imaging devices capable of detecting visible, infrared, or ultraviolet light, such as cameras), proximity sensors (e.g., ultrasonic sensors, lidar, time-of-flight cameras), inertial sensors (e.g., accelerometers, gyroscopes, inertial measurement units (IMUs)), altitude sensors, pressure sensors (e.g., barometers), audio sensors (e.g., microphones), or field sensors (e.g., magnetometers, electromagnetic sensors). Any number and combination of sensors can be used, such as one, two, three, four, five, or more sensors. Optionally, data can be received from different types of sensors (e.g., two, three, four, five, or more types). Different types of sensors can measure different types of signals or information (e.g., position, orientation, velocity, acceleration, proximity, pressure, etc.) and / or acquire data using different types of measurement techniques. For example, sensors can include any combination of active sensors (e.g., sensors that generate and measure energy from their own source) and passive sensors (e.g., sensors that detect available energy).

[0072] The sensor can directly sense data selected from: position relative to up to three translational degrees of freedom and up to three rotational degrees of freedom, position change at two time points, translational velocity, translational velocity change at two time points, translational acceleration, translational acceleration change at two time points, orientation, angular velocity, angular velocity change at two time points, angular momentum, angular momentum change at two time points, angular acceleration, angular acceleration change at two time points, rotor blade velocity, rotor blade frequency, rotor blade rotation direction, or any combination thereof. The sensor can sense data that can be used to derive or generate information about the above-mentioned data. The data sensed and collected by the sensor can optionally be processed for analysis at a certain confidence level. Processed or unprocessed raw data from one or more sensors can be analyzed to generate the orientation of the UAV.

[0073] The drone and methods of operating a drone disclosed herein may include generating a signal via one or more processors from a flight controller or electronic speed controller (ESC) that causes the drone to flip from a first orientation to a second orientation opposite to the first orientation. Further, the drone and methods of operating a drone disclosed herein may include, in response to the signal, flipping the drone from the first orientation to the second orientation by means of one or more propulsion units. The drone may change orientation (e.g., flip) by controlling the rotational speed and / or direction of one or more propulsion units. The drone may change orientation by controlling the rotational speed and / or direction of one or more rotor blades. As an example, a drone with four propulsion units may include two pairs of identical fixed pitch rotors; in one flight orientation, two rotate clockwise on one diagonal of the drone and two rotate counterclockwise on the other diagonal. To change to another orientation, the rotational speed or orientation of one pair of rotors may or may not change with the change in the speed or orientation of the other pair of rotors. As another example, when an obstacle is detected on the left side of the drone, the drone may increase the rotational speed of the two propulsion units on the left side of the drone, such that the left side can rise further vertically than the right side to avoid the obstacle. As another example, when a drone collides with an obstacle and accidentally flips over, it can automatically restore the rotational direction of all propulsion units to resume flight in the orientation of the flip, and then increase the rotational speed of one or more propulsion units (e.g., the two propulsion units on the right side of the drone), optionally decelerating other propulsion units (e.g., the two propulsion units on the left side of the drone), so that the right side of the drone can be raised and the left side can be lowered, to produce a 90-degree rotation of the entire drone around its roll axis and a final 180-degree flip. The rotational speed and direction of each propulsion unit can be adjusted individually during the flip and / or after the drone flips over.

[0074] The type and speed of the drone's flip can be controlled by controlling each propulsion unit separately or together. The flip speed can have a constant magnitude and different directions. Both the magnitude and direction of the flip speed may differ. The magnitude of the flip speed can include a waveform of any shape that starts at zero at the beginning of a flip and ends at zero at the end.

[0075] The drone can rotate around the roll axis ( Figure 1 The drone can rotate and flip around the pitch axis (y-axis). Figure 1 The drone can rotate around its yaw axis (x-axis). Figure 1 Rotation along the z-axis (in the image). The flip angle can be any angle greater than about 1 degree from the initial orientation before flipping. The flip angle can be 15, 30, 45, 60, 75, 90, 105, 120, 135, 1550, 165, 180, 195, 210, 225, 240, 255, 270, 285, 300, 315, 330, 345, 360 degrees or any other angle greater than 1 degree and less than 360 degrees. Optionally, the flip angle may be greater than 360 degrees when the drone can flip from the first orientation to the second orientation more than once. As an example, the drone flips 180 degrees from its initial orientation in the horizontal plane from left to right, making the drone upside down and its left side flipped to the right. As another example, the drone flips 90 degrees from its initial orientation in the horizontal plane from back to front, making the drone back up and its front side flipped to the bottom.

[0076] During the flipping or changing of the drone's orientation, the drone may exhibit horizontal movement (in... Figure 1 In the xy plane), vertical motion (along the xy plane) Figure 1 z-axis), rotational motion (around, for example) Figure 13-15 (The flip axis) or a combination thereof. The flip or change of orientation can occur when the drone is hovering, moving, maintaining the same position, landing, contacting an external object, unable to move in a certain direction, detecting an error in at least one drone component, or when there is an orientation failure.

[0077] A drone's orientation can be flipped or changed with or without assistance from one or more sensors. The drone may change orientation when a control unit or terminal issues a signal. In further cases, the control unit or terminal may control the speed of the flip, the rotation angle of the flip, the type of flip (e.g., from left to right, from front to back), or other aspects of the flip. As an example, when an obstacle is detected on the left side of the drone by a sensor, the drone may increase the rotation speed of one or both propulsion units on the left side, causing the left side to rise further than the right side to avoid the obstacle. As another example, the drone moves toward a tree branch and touches it within the user's line of sight; the user can use a remote control to input a selected flip angle, a selected flip axis (e.g., ... Figure 13-15A flip signal that defines the radius of the arc that forms the flip path. The selected flip angle can be, for example, 25 degrees, 30 degrees, 45 degrees, or any angle. The flip angle can be any angle that allows the drone to safely avoid obstacles. The flip axis can be parallel to the roll axis. Any value for the radius of the arc can be considered. In some cases, the radius may be approximately 10 meters. The drone can flip around the selected flip axis from its initial orientation to face up (tilted relative to the vertical plane) by the selected flip angle, thus moving away from the branches.

[0078] Figure 2 A schematic diagram is shown of a drone changing its orientation on a horizontal landing surface according to an embodiment of the present invention.

[0079] The drone and its internal components may include a first orientation 200a and a second orientation 200b. When the drone contacts the underlying surface or landing surface 206 with its bottom 202 facing down and its top 204 facing up, the drone may be in the second orientation 200b. Conversely, when the drone is in the first orientation, its top 204 may face down and its bottom 202 may face up. When on the landing surface, the drone may change its orientation from 200a to 200b, and vice versa. The first and second orientations may be approximately 180 degrees apart and opposite to each other. The drone may be configured to perform a flip 212 from the first orientation to the second orientation at a certain time point t1, and vice versa. When flipping from the first orientation to the second orientation, the drone may have an intermediate flight orientation 200c, and vice versa. The drone may take off after flipping at a certain time point t2.

[0080] When the drone is on the underlying surface 206, the drone disclosed herein can flip from a first orientation 200a to a second orientation 200b opposite to the first orientation. Before initiating the flip, the drone can acquire data indicating user input to initiate the flip from the first orientation to the second orientation. User input can be received at a remote terminal of the drone via a wireless connection. Optionally, the drone can acquire data from one or more sensors on the drone to initiate the flip from the first orientation 200a to the second orientation 200b. One or more sensors can detect the orientation of the drone. The first orientation of the drone may be upside down, while the second orientation of the drone may be face up. After flipping to the second orientation, the drone can remain on the underlying surface for at least a period of time. This may be advantageous in allowing the drone time to check the functionality of one or more of its components. Additionally, this may be advantageous in allowing the drone to detect and / or change the rotational speed or orientation of one or more rotating components to ensure safe flight. The time period (moment) can be from about 0.1 seconds to about 100 seconds. After the drone flips from the first orientation to the second orientation, the drone can take off from the underlying surface using one or more propulsion units. Optionally, after the drone flips, it can further achieve flight in a second orientation.

[0081] Landing surface 206 can be any static or mobile surface configurable to bear at least a portion of the drone's weight. The landing surface can have different terrain features. It can be flat, sloping (e.g., with an angle of inclination of 5, 10, 15, 20, 25, 30 degrees, etc.), downward-sloping, uniform, non-uniform, or at any angle to the horizontal. For example, the landing surface can be a roof, tree branches, ground, floating objects in water, water surface, leaf-covered surface, rocky surface, grass, swampy surface, aircraft, sandy surface, etc. The landing surface can be close to or far from the user, remote controller, and / or terminal. The landing surface can be within the user's line of sight or within the control range of the remote controller and / or terminal. The landing surface can also be outside the user's line of sight or outside the control range of the remote controller and / or terminal.

[0082] The drone may be positioned on landing surface 206 in a first orientation 200a, a second orientation 200b, or any other orientation it may have. The drone may be placed on the landing surface for a new takeoff. Optionally, the drone may be controlled to land on the landing surface, or may land accidentally on the landing surface after a collision landing caused by an external source or an internal failure of one or more components.

[0083] Using one or more sensors, the drone can automatically detect its orientation on the landing surface. Each of the one or more sensors can sense one or more characteristics of the drone or the environment surrounding the drone. These characteristics may include one or more characteristics at one or more physical locations of the drone, selected from: flight orientation, spatial arrangement, speed, altitude, latitude, acceleration, velocity, tilt angle, altitude, and distance to external objects. These characteristics may relate to up to three translational degrees of freedom and up to three rotational degrees of freedom. Optionally, the one or more sensors can be used to provide data about the drone's surrounding environment, such as weather conditions, proximity to potential obstacles, location of geographic features, location of man-made structures, wind speed, wind direction, rainfall speed, temperature, etc. This environmental data may relate to up to three translational degrees of freedom and up to three rotational degrees of freedom. Any sensor used to collect environmental information can be used, including position sensors (e.g., GPS sensors, mobile device transmitters that perform position triangulation), visual sensors (e.g., imaging devices capable of detecting visible, infrared, or ultraviolet light, such as cameras), proximity sensors (e.g., ultrasonic sensors, lidar, time-of-flight cameras), inertial sensors (e.g., accelerometers, gyroscopes, inertial measurement units (IMUs)), altitude sensors, pressure sensors (e.g., barometers), audio sensors (e.g., microphones), or field sensors (e.g., magnetometers, electromagnetic sensors). Any number and combination of sensors can be used, such as one, two, three, four, five, or more sensors. Optionally, data can be received from different types of sensors (e.g., two, three, four, five, or more types). Different types of sensors can measure different types of signals or information (e.g., position, orientation, velocity, acceleration, proximity, pressure, etc.) and / or acquire data using different types of measurement techniques. For example, sensors can include any combination of active sensors (e.g., sensors that generate and measure energy from their own source) and passive sensors (e.g., sensors that detect available energy).

[0084] For example, one or more sensors can be configured to sense the relative position of the bottom 202 and the top 204, and determine the orientation by associating the positions of the bottom and top with a predefined database of different orientations. As an example, an inertial sensor like an IMU can detect the rotational motion of the drone, and by adding the drone's rotational motion to its initial orientation at takeoff, the relative position of the bottom relative to the top can be determined. As another example, different proximity sensors can be used for the bottom and top of the drone, thus determining the height difference between the bottom and top and an external reference (e.g., water surface, roof).

[0085] A drone can determine whether it needs to flip or change orientation based on its current orientation and the landing surface, and can provide signals to one or more rotors. In some cases, this document discloses a method of operating a drone. The method may include providing signals, optionally from a flight control unit, an electronic speed controller, etc., on the drone, to one or more corresponding propulsion units, to control the rotational direction of a first set of rotating components and a second set of rotating components of one or more propulsion units. In some cases, when the drone is in a first orientation, the first set of rotating components may be configured to rotate in a first direction and the second set of rotating components may be configured to rotate in a second direction. Conversely, when the drone is in a second orientation opposite to the first orientation, the first set of rotating components is configured to rotate in the second direction and the second set of rotating components is configured to rotate in the first direction. When the drone's current orientation does not allow it to initiate or resume flight within a predetermined time period after landing on the landing surface, the drone may automatically generate a signal to flip. The predetermined time period may be from about 0.1 seconds to about 10 minutes. The drone may also generate a signal if the landing surface obstructs the drone's flight or change of position. One or more processors on or off the drone may be configured to generate a signal to flip and change orientation if the landing surface is in its path. One or more processors, either on or off the drone, can be configured to generate a signal to perform a rollover and change orientation when the drone crashes onto a landing surface and accidentally flips over. Based on the current orientation and the landing surface, the drone can automatically determine whether a rollover or change of orientation is necessary. Optionally, a user can provide input to a remote controller and / or terminal to generate a signal for performing a rollover to change the drone's orientation. In other cases, the signal can optionally be provided from the remote controller and / or terminal to one or more corresponding propulsion units to control the rotational direction of a first set of rotating components and a second set of rotating components of one or more propulsion units.

[0086] In some situations, the drone may or may not be within the user's line of sight. As an example, the drone might crash onto a roof and flip 180 degrees from its initial orientation. The roof may not be in the user's view. In some cases, if the drone cannot or does not continue flying from the roof within a predetermined time period (e.g., within 10 seconds of crashing), the drone can be configured to automatically initiate a 180-degree flip to return to its initial orientation so that it can take off from the roof and resume flight. This automatic determination and completion of the flip may not require user control or intervention and allows the drone to quickly resume flight. As another example, the drone might be flying near a tree and may be obstructed by branches / leaves. The drone can be configured to detect the surrounding "landing surface" and flip or rotate to an orientation that allows the drone to move along a route with fewer or no obstacles.

[0087] The drone can flip or change orientation on landing surface 206. Flipping or changing orientation may include causing the drone to leave the landing surface in a rotational motion. During the flip, the drone may experience different rotation angles, angular velocities, angular momentum, different accelerations, forces, drags, etc. Flipping or changing orientation may include moving the drone again to land on the landing surface after a rotational motion in a second orientation.

[0088] Tilting can be controlled or achieved without causing damage to the drone from the landing surface or rotational motion. Tilting can be controlled or achieved based on the drone's weight, size, shape, and / or the speed of the propulsion unit, so that the tilting does not damage the drone or its components.

[0089] In some cases, the drone's roll can be around the roll axis, pitch axis, yaw axis, or any axis in the xy plane, xz plane, or yz plane (e.g., ...). Figure 1 (The axes and planes shown). By controlling one or more rotor blades separately or together, the flipping of the drone can be controlled or achieved. In particular, Figure 1 Control of one or more rotor blades 110a, 110b may include the rotational speed and rotational direction of one or more rotor blades. For example, a drone with four propulsion units may flip due to a collision and land on a surface in a first orientation 200a. When the drone is in the first orientation, a first portion of the drone 204 may contact the landing surface 206, while a second portion 202 of the drone may face in the opposite direction. The two sets of rotor blades of the propulsion unit on the left side of the drone can be controlled to rotate at a first speed, and the rotor blades of the propulsion unit on the right side of the drone can be controlled to rotate at a second speed. The first and second speeds can be controlled such that the drone can rotate around a roll axis ( Figure 1 The drone rotates with its left side facing upwards (the y-axis in the image) and can continue rotating and flipping approximately 180 degrees. The drone can be configured to rotate about the roll axis and flip at essentially one angular velocity. Alternatively, the drone can be configured to rotate about the roll axis and flip at a variable angular velocity. During the flip, one diagonal of the drone (e.g., ...) rotates upwards (the y-axis in the image) with its left side facing upwards, and the drone can continue rotating and flipping approximately 180 degrees. Figure 1 The rotor blades on (124) can rotate in the first direction, while the other diagonal (e.g.) Figure 1 The rotor blades on section 126 can rotate in the opposite direction to the first direction. After the flip, the second section 202 can contact the landing surface 206, while the first section 204 can face upwards. In this orientation, the UAV can take off normally and resume flight. Alternatively, to initiate the flip, the rotational speed of the left rotor assembly along the diagonal 126 of the UAV can be increased to a certain extent, causing the left-side portion of the UAV closest to this rotor assembly to move upwards when viewed from the top, and subsequently causing the entire UAV to flip.

[0090] In some cases, when the drone is in the first orientation 200a, the first portion 204 of the drone contacts the underlying surface 206, and when the drone is in the second orientation 200b, the second portion 202 of the drone contacts the underlying surface. In some cases, the first and second portions are relative to a horizontal plane passing through the drone body (e.g., parallel to...). Figure 1 The xy planes in the middle are laterally (e.g., along the xy planes) to each other. Figure 1 (The z-axis is relative to the plane). In some cases, when the UAV is in the first orientation 200a, the second part 202 is positioned above the main body along the lift direction generated by one or more propulsion units. In some cases, when the UAV is in the second orientation 200b, the first part 204 is positioned above the main body along the lift direction generated by one or more propulsion units. In some cases, the first orientation is when the UAV is upside down. In some cases, the second orientation is when the UAV is face up. In some cases, the UAV is capable of taking off from the underlying surface in both the first and second orientations. In some cases, the UAV can hover or fly in both the first and second orientations.

[0091] The drone can take off after flipping or changing orientation. The drone can also fly away from landing surface 206 after flipping or changing orientation. Optionally, the drone can hover above the landing surface after flipping. The drone can fly in any direction and / or along any path of motion defined in three-dimensional space. The drone can move in six degrees of freedom.

[0092] The drone can be configured to include an intermediate flight orientation 200c. The intermediate flight orientation can exist during a flip or orientation change of the drone from one orientation (e.g., 200a) to a different orientation (e.g., 200b). The drone can be in the intermediate flight orientation for any time between 0.001 seconds and approximately 10 minutes. While in the intermediate flight orientation, the drone may be in mid-air. Optionally, some portions of the drone may contact the underlying surface 206. The intermediate flight orientation may have approximately half the angular difference between before and after the flip orientation (e.g., the first and second flight orientations). As an example, when the drone flips approximately 180 degrees from the first orientation to the second orientation, the intermediate orientation may be approximately 90 degrees from the first and second orientations. The intermediate flight orientation may have a difference of approximately 10, 20, 30, 40, 50, 60, 70, 80, 90, 100, 110, 120, 130, 140, 150, 160, 170, 180, or any other degree from the first or second flight orientation. During its flip, the drone can maintain a central flight orientation for approximately 0.01 seconds to approximately 1000 seconds.

[0093] Figure 3 A schematic diagram of a drone with different flip heights and radii according to an embodiment of the present invention is shown.

[0094] In addition to the following differences Figure 3 The embodiments in can be similar to Figure 2 Examples are shown in the text. Figure 3 In this configuration, the UAV can be configured to adjust its orientation by flipping or changing when it is on the ground, such that the intermediate flight orientation 312 has different heights (e.g., h1 and h2) along the vertical direction. Similarly, the radius r of the arc defining the flipping motion path of the UAV 312 can vary with different heights. Additionally, the UAV can be configured to adjust its orientation by flipping or changing it, such that the UAV after the orientation change can land at a position at a different distance (e.g., d1 and d2) than the UAV before the flip. The UAV can be configured to achieve this difference in orientation change by controlling the rotational speed and direction of one or more propulsion units, thereby controlling the flipping speed, flipping acceleration, flipping height (e.g., h1 and h2), flipping distance (e.g., d1 and d2), flipping radius, and flipping axis (…). Figure 13-15 And / or other parameters of the drone. The radius of the arc r (which defines the drone's path of motion during the flip 312) can be in the range of approximately 0 meters to approximately 0.3 meters. The flip distance can be in the range of approximately 0 meters to approximately 0.3 meters. The flip height can be in the range of approximately 0.2 meters to approximately 1 meter.

[0095] This difference in orientation change can help the drone avoid external obstacles and ensure the success of the orientation change. As an example, the drone can flip to a sufficiently high intermediate orientation and then flip to a different flight orientation, thus avoiding protrusions on the underlying surface. As another example, the drone can flip to a position less than 0.01 meters away from the original drone to avoid flipping over and landing 0.03 meters away from the original drone in the water.

[0096] Figure 4 A schematic diagram is shown of a drone changing its orientation as it flips from the landing surface into mid-air, according to an embodiment of the present invention.

[0097] In addition to the following differences Figure 4 The embodiments in can be compared with Figure 2 The embodiments are similar. In Figure 4 In the middle, the drone on the underlying surface can change its orientation 412. During the orientation change, the drone can include an intermediate flight orientation 400c, which differs from the first orientation 400a by less than 90 degrees and from the second flight orientation 400b by more than 90 degrees. In the second orientation after the flip, the drone can be higher than the underlying surface h. ab The drone can continue flying at a second flight orientation.

[0098] The radius of the arc (defining the movement path of the drone during flip 412) can be in the range of approximately 0.2 meters to approximately 0.5 meters. Height hab It can be within a range of approximately 0.2 meters to approximately 0.5 meters above the underlying surface.

[0099] This in-flight roll 412, ending with a flight orientation, helps avoid external obstacles that may exist on the underlying surface and / or in other roll paths the drone might take if it lands. Additionally, such a roll also ensures rapid and efficient flight after the roll. As an example, the drone can be configured to change orientation by the roll 412 to avoid landing on an underlying surface unsuitable for the roll.

[0100] Figure 5 A schematic diagram is shown of a condition under which a drone, according to an embodiment of the present invention, can change its orientation in flight in response to a detected threshold condition.

[0101] The drone can be positioned in one or more orientations. In some embodiments, the orientation may include a first orientation 500a and a second orientation 500b. In some cases, after a crash landing, the drone may contact the underlying surface or landing surface 506 in the first orientation 500a, such that its second portion 504 faces downward and its first portion 502 faces upward relative to the underlying surface. The drone may take off from the landing surface 506 in the first orientation. In some embodiments, when the drone meets a threshold condition (e.g., an altitude threshold 508), the drone may change its orientation from 500a to 500b. The drone may then continue flying in the second orientation 500b, where the second portion 504 faces upward and the drone's first portion 502 faces downward. The first and second orientations may be parallel to each other but laterally opposite (e.g., a difference of approximately 180 degrees).

[0102] In some cases, when the drone is in a first orientation 500a, a first portion 504 (e.g., top) of one or more protective covers may contact the lower pad surface 506, and when the drone is in a second orientation 500b, a second portion 502 (e.g., bottom) of one or more protective covers may contact the lower pad surface. In some cases, the first and second portions of one or more protective covers may be relative to a horizontal plane passing through the drone body (e.g., parallel to...). Figure 1 The xy planes in the middle are laterally opposite each other (e.g., along the xy planes). Figure 1 (z-axis in the diagram). In some cases, when the UAV is in the first orientation 500a, the second part 502 may be positioned above the main body along the lift direction generated by one or more propulsion units. In some cases, when the UAV is in the second orientation 500b, the first part 504 may be positioned above the main body along the lift direction generated by one or more propulsion units.

[0103] When one or more sensors detect that the drone has reached threshold condition 508, the drone may flip from a first orientation 500a to a second orientation 500b opposite to the first orientation. One or more sensors may be on the drone and configured to detect whether the drone has reached the threshold condition while in flight. The threshold condition may be reached during the drone's flight. As an example, the threshold condition may be the drone's height relative to the underlying surface. Alternatively, the threshold condition may be the drone's velocity or acceleration relative to the underlying surface, where the velocity or acceleration is the drone's vertical velocity or acceleration relative to the underlying surface. Alternatively, the threshold condition may be the power supplied to one or more propulsion units, or the power consumed by one or more propulsion units, the amount of time elapsed since the drone took off from the underlying surface, or other conditions. Such a power threshold condition can be used to prevent damage to the drone's rotor blades, motors, or other components due to excessive power. As an example, the power threshold is met when one or more propulsion units reach more than 90% of the maximum power allowed by the drone without affecting the drone's desired motion (e.g., when the drone is restricted by an external obstacle). The drone may be configured to achieve an orientation change that allows the drone to move away from obstacles and resume proper operation. In some cases, one or more propulsion units allow the drone to take off from the underlying surface regardless of the orientation of the underlying surface relative to the direction of gravity, wherein a first orientation is that the drone is upside down and a second orientation is that the drone is face up. The drone includes one or more protective shields to prevent the one or more propulsion units from directly contacting the underlying surface. The underlying surface can be horizontal, including from a horizontal plane, inclined to a horizontal plane, or a combination thereof.

[0104] The drone may be on landing surface 506 before taking off, resuming flight, flipping, or changing its orientation. The landing surface can be any static or moving surface configured to bear at least a portion of the drone's weight. The landing surface can be varied terrain. The landing surface can be flat, sloping, downward-sloping, uniform, non-uniform, or at any angle to the horizontal plane. For example, the landing surface can be a roof, tree branches, ground, floating objects in water, water surface, leaf-covered surface, rocky surface, grass, swampy surface, aircraft, sandy surface, etc. The landing surface can be close to or far from the user, remote controller, and / or terminal. The landing surface may be within the user's line of sight or within the control range of the remote controller and / or terminal. The landing surface may be outside the user's line of sight or outside the control range of the remote controller and / or terminal.

[0105] The drone may be positioned on landing surface 506 in a first orientation 500a, a second orientation 500b, or any other orientation it may have. The drone may be placed on landing surface 506 for a new takeoff. Optionally, the drone may be controlled to land on the landing surface, or may unintentionally land on the landing surface after a collision landing caused by an external source or an internal failure of one or more components. In some cases, the landing surface and surrounding environment may not be suitable for flipping or changing orientation on the landing surface. In other cases, the drone may not be able to flip or change its orientation on the landing surface. Therefore, it may be desirable to allow the drone to take off from the landing surface in its current orientation and then flip or change its orientation while in the air, rather than flipping or changing its orientation on the landing surface. For example, the landing surface may be determined to be too small for flipping or changing orientation. In some cases, the landing surface may not be flat or uniform, making it difficult to flip or change orientation. As another example, the landing surface may move very fast or be very slippery, making flipping difficult. A drone can detect its surrounding environment (especially the landing surface) and / or its orientation to automatically determine whether it is appropriate to flip or change orientation on the landing surface. If not, the drone can take off first and then flip in mid-air when it receives a signal from the user, controller, and / or terminal, or when it detects a threshold condition. As an example, the environment (e.g., location) can be determined based on multiple GPS satellites communicating with a GPS sensor. As another example, the environment can be determined based on time-of-flight data acquired by a lidar sensor. As yet another example, the type of environment (obstacles in the flight path) can be determined based on image data acquired by a vision sensor, such as the exposure time associated with the image data acquired by the vision sensor.

[0106] In some cases, drones can take off from the underlying surface in a first orientation and a second orientation. In other cases, drones can hover or fly in both first and second orientations.

[0107] The drone and method disclosed herein can control the first set of rotating components of one or more propulsion units (e.g., Figure 13 (1, 4) and the second set of rotating parts (e.g. Figure 13 The lift of the drone is generated in the directions of 2 and 3 in the document. Each rotating component disclosed herein may include a rotor blade or a set of rotor blades. In some embodiments, the drone and method disclosed herein may include the drone being in a first orientation or a second orientation ( Figure 5 The top panel (in the middle) generates lift for the drone when it takes off from the underlying surface.

[0108] For takeoff from landing surface 506, it can occur after any type of drone action that results in the drone being on the landing surface. Non-limiting examples include a successful roll, an attempted but unsuccessful roll, landing, being powered on but idling on the landing surface, moving along the land surface, falling onto the landing surface, etc. For takeoff from a landing surface, the drone can take a series of actions to leave the surface. In some cases, the drone can hover on the landing surface and then fly in a vertical motion. As another example, the drone can fly directly off the landing surface using a combination of vertical, horizontal, and / or curvilinear motions.

[0109] Takeoff can occur automatically, with or without the assistance of one or more sensors. The UAV can determine whether a rollover or change of orientation is necessary based on its current orientation and the landing surface. If a rollover or change of orientation is desired, but the conditions of the landing surface, surrounding environment, and / or the UAV may not be suitable for a rollover or change of orientation on the landing surface, the UAV can automatically determine to take off from the landing surface. Takeoff can be controlled by a user, controller, and / or terminal. The UAV can take off upon receiving a signal from a user, controller, and / or terminal.

[0110] In some cases, signals (from a remote controller and / or terminal or from the drone) can be provided to one or more corresponding propulsion units, thereby controlling the rotational direction of the first and second sets of rotating components of the one or more propulsion units. A signal can be generated when threshold condition 508 is detected using one or more sensors disclosed herein. As an example, an altitude threshold can be determined based on multiple GPS satellites communicating with a GPS receiver on the drone. As another example, an ultrasonic sensor can be used to detect obstacles within a threshold distance of the drone.

[0111] When threshold condition 508 is detected or met, the drone may flip or change orientation. The threshold condition can be one or more conditions that the drone or its components may exhibit in the event of unexpected situations such as malfunctions, power outages, communication interruptions, loss of control, encounters with obstacles, or resistance. The threshold condition can be user-selected or pre-programmed into the drone. The threshold condition can be input into the drone before or during drone operation. The threshold condition can vary or remain constant during drone operation. In some cases, the threshold condition can adaptively change based on the drone's surrounding environment. The threshold condition can be set or changed by at least one of the following: processor, smart device, controller, terminal, digital processing device, cloud, database, algorithm, application, computer software, user, drone manufacturer, etc.

[0112] As an example, threshold condition 508 can be satisfied when an external object is detected within a predetermined distance of the drone. Optionally, the threshold condition can be satisfied when the drone comes into contact with an external object. Optionally, the threshold condition may include the drone's altitude, height, acceleration, latitude, or speed being greater than or less than a predetermined value. The threshold condition may be that the rotational speed of the rotor blades is detected to be less than or greater than a pre-selected speed. As another example, the threshold condition may be that a predetermined change in the drone's altitude, height, acceleration, latitude, or speed within a certain time period is detected to be greater than or less than a predetermined value. The threshold condition may be that a predetermined change in the rotational speed of at least one rotor blade is detected to be less than or greater than a pre-selected speed. The threshold condition may be that it is impossible to achieve a predetermined change in the rotational speed of at least one rotor blade to be less than or greater than a pre-selected speed. As another example, after an undesirable change in orientation is introduced by an external source (e.g., strong wind), the drone may flip or change orientation.

[0113] The drone can detect threshold condition 508 using one or more sensing units or sensors as disclosed herein. Each sensor can be located on the drone, at one or more different locations on the drone, or remotely from the drone. Sensors can be located at one or more different locations, including: a central body 102, rotors 110a, 110b, a protective shield 106, and a support 108. Each sensor can directly sense one or more characteristics of the drone or the environment surrounding the drone. Optionally, each sensor can sense sensing data and convert the sensing data (either by itself or by other digital processing devices on or away from the drone) into one or more characteristics of the drone or the environment surrounding the drone. Non-limiting examples of such characteristics may include flight orientation, spatial arrangement, speed, altitude, latitude, acceleration, rate, tilt angle, altitude, and distance to an external subject. In some cases, characteristics sensed indirectly or directly by the sensor may include up to three translational degrees of freedom and three rotational degrees of freedom. One or more sensors may include a Global Positioning System (GPS) sensor, a motion sensor, an inertial sensor, a proximity sensor, an ultrasonic sensor, an infrared sensor, an ultraviolet sensor, an image sensor, an electromagnetic emission sensor, radar, or any other sensor. As an example, a GPS sensor can sequentially detect the drone's position on landing surface 506 and then one or more positions of the drone during flight. The processor, control unit, etc., can then compare the drone's position at different points in time to determine the drone's altitude or distance from landing surface 506. The detected altitude can be compared to a threshold altitude to see if the threshold condition has been met.

[0114] Optionally, sensors can be used to provide data related to the drone's surrounding environment, such as weather conditions, proximity to potential obstacles, location of geographic features, location of man-made structures, wind speed, wind direction, rain speed, temperature, etc. This environmental data may pertain to up to three translational degrees of freedom and up to three rotational degrees of freedom. For example, one or more sensors can sense the relative position of the drone's bottom 502 to its top 504 and determine the orientation by using a predefined database that correlates the bottom and top positions to different orientations.

[0115] The drone may use one or more sensing units to sense its orientation (e.g., 500a or 500b) or changes in orientation. The sensing units may be sensors as disclosed herein. The sensing units may be any number of sensors. The sensing units may be located on or outside the drone. In some cases, the sensing units are a combination of any number of sensors on and outside the drone. The sensors may directly sense data selected from: position relative to up to three translational degrees of freedom and up to three rotational degrees of freedom, position change at two time points, translational velocity, translational velocity change at two time points, translational acceleration, translational acceleration change at two time points, orientation, angular velocity, angular velocity change at two time points, angular momentum, angular momentum change at two time points, angular acceleration, angular acceleration change at two time points, rotor blade velocity, rotor blade frequency, rotor blade rotation direction, or any combination thereof. The sensors may sense data that can be used to derive or generate information about the above-mentioned data. The data sensed and collected by the sensors may optionally be processed for analysis at a certain confidence level. Processed or unprocessed raw data from one or more sensors may be analyzed to generate the drone's orientation. Optional data processing or analysis may include any data processing method, including but not limited to: denoising, segmentation, pattern recognition, statistical analysis, truncation, filtering, sampling, algebraic operations, frequency analysis, thresholding, compression, decompression, encryption, decryption, and signal conversion.

[0116] The ability to determine whether threshold condition 508 has been met without any external signal advantageously allows the drone to operate independently of many environmental factors. For example, the absence of GPS input allows the aircraft to operate in indoor or outdoor conditions where GPS signals might otherwise be blocked or unreliable. In another example, the absence of feedback from outside the vehicle (e.g., sensors that might require echoes to determine the drone's altitude) reduces the risk of interference signals and environmental factors such as moving parts (e.g., leaves blowing in the wind) degrading the reliability of echo signals. The systems and methods described herein are also simple and do not require much complex computation that would consume more time or processing power. The systems and methods provided herein can provide conditions that can be easily evaluated without complex calculations that might be used to view various relative position and motion information relative to an external reference. The drone can determine whether the threshold condition is met based on information provided on the aircraft without external signals. This can provide smooth, assisted take-off-then-flip or flip-then-take-off sequential actions for drones under various environmental conditions.

[0117] Threshold conditions 508, with or without a combination of one or more characteristics of the drone or its environment, can trigger different controls to achieve a rollover. This difference in rollover control protects the drone from potential damage caused by operational failure and / or malfunction, thereby improving the reliability and safety of the drone and its internal components. In some cases, when the drone reaches a threshold altitude, it can automatically control itself to roll over at an optimal speed range when wind drag is low and lift is sufficient. As another example, when the drone detects a threshold wind drag or wind speed, it can automatically roll over directly to reduce wind drag during operation. As yet another example, when a threshold condition for contact with an external object is reached, sensors can detect the position of the external object relative to the flight path, and the drone can roll over to a position away from the external object. This control can be performed automatically by means of sensors or through external user control.

[0118] Tumbling can be controlled or achieved without causing damaging impact to the drone. Tumbling can be controlled or achieved based on the drone's weight, size, shape, and / or the maximum speed of the propulsion unit, ensuring that the flipping does not damage the drone or its internal components.

[0119] By controlling one or more rotor blades separately or together, the flipping of a drone can be controlled or achieved. Specifically, the control of one or more rotor blades can include the rotational speed and direction of rotation of one or more rotor blades. Further control of the rotor blades can include the blade spacing of one or more rotor blades. As an example, the rotor blades of the upper left and lower right propulsion units of the drone can be controlled to rotate clockwise at two different speeds, and the rotor blades of the upper right and lower left propulsion units of the drone can be controlled to rotate counterclockwise at the same speed (when viewed from the top or bottom of the drone). The speed of each propulsion unit can be controlled such that the upper left side of the drone rolls upwards at a constant speed while the lower right side rolls downwards, ultimately causing the drone to flip about an axis in the xy-plane (e.g., ...). Figure 1 (As shown).

[0120] A drone's flip can result in rotational, translational, horizontal, vertical, or a combination thereof. After a flip, the drone's center body can be located in different or the same position in three-dimensional space. During a flip, the drone may experience translational, rotational, horizontal, vertical, or a combination thereof.

[0121] The drone can automatically detect threshold condition 508 without external signals. Automatic control of the drone's flipping can be advantageous, allowing actions to be performed regardless of the user's visual perception and unaffected if the drone goes out of data communication range or if the user is novice. This automatic detection can be rapid because communication is solely within the drone; it can be more efficient and simpler because it requires no external input and / or control; and / or it can be more reliable because communication failures with or against an external controller do not affect the drone's automatic detection.

[0122] Manually controlling the drone to flip may be advantageous when one or more components detected by the automatic system fail under different conditions. Manual control of the flip may be advantageous when the user is experienced. Manual control of the flip may be advantageous when the user has a better awareness of their surroundings. Manual control of the flip may be advantageous when the surrounding environment is too complex for automatic control to handle, or when automatic control is capable of performing the flip.

[0123] Figure 6 A schematic diagram of a drone that changes its orientation during flight according to an embodiment of the present invention is shown.

[0124] In addition to the following differences Figure 6 The embodiments in can be compared with Figure 5 The embodiments are similar. In Figure 6During flight, at a height greater than the threshold height h6 above the underlying surface 606, the UAV can change its orientation to a second flight orientation 600b. The second flight orientation 600b may not differ from the first flight orientation 600a by approximately 180 degrees and may be above the underlying surface. The UAV can resume flight via the second flight orientation. During the flip 612 process, the UAV may include an intermediate flight orientation 600c that differs from the first flight orientation by 90 degrees and from the second flight orientation by less than 90 degrees.

[0125] The second flight orientation may differ from the first flight orientation by approximately 91, 100, 110, 120, 130, 140, 150, 160, 170, 180, 190, 200, 210, 220, 230, 240, 250, 260, or 269 degrees. Optionally, the second flight orientation may form any angle greater than 1 degree with the first orientation. The intermediate flight orientation may be any angle smaller than the difference between the first and second flight orientations. The angle of the flip 612 may be in the range of approximately 90 degrees to approximately 269 degrees. The radius of the arc (defining the path of motion of the UAV during the flip) may be in the range of approximately 0.2 meters to approximately 0.5 meters. The height h6 may be in the range of approximately 0.2 meters to approximately 0.6 meters above the underlying surface.

[0126] A second flight orientation with various angular differences from the first flight orientation may be advantageous for avoiding external obstacles and for continuing flight in various directions and along different flight paths.

[0127] Figure 7 A schematic diagram is shown illustrating how a drone changes its orientation when it flips from an upwardly tilted surface to a horizontal landing surface, according to an embodiment of the present invention.

[0128] In addition to the following differences Figure 7 The embodiments in can be similar to Figure 2 Examples are shown in the text. Figure 7 In this configuration, the drone in the first orientation 700a can be configured to flip from the first tilted surface 706a to the horizontal surface 706b in the second orientation 700b. The first tilted surface can be tilted upwards from the horizontal surface by approximately 30 degrees. The angle of the flip 712 can range from approximately 89 degrees to approximately 179 degrees. The radius of the arc (defining the path of motion of the drone during the flip) can range from approximately 0.2 meters to approximately 0.6 meters.

[0129] In some embodiments, the drone may contact a horizontal plane after flipping. During the flip, the drone may include an intermediate flight orientation 700c that differs from both a first and second flight orientation by less than 90 degrees. Optionally, the intermediate flight orientation may be any angle smaller than the difference between the first and second flight orientations.

[0130] Figure 8 A schematic diagram is shown illustrating how a drone changes its orientation when it flips from an upwardly tilted surface into mid-air, according to an embodiment of the present invention.

[0131] In addition to the following differences Figure 8 The embodiments in can be similar to Figure 7 Examples are shown in the text. Figure 8 In this configuration, the drone in the first orientation 800a can be configured to flip from the first tilting surface 806a to the second orientation 800b. The first tilting surface can be tilted upwards from the horizontal by approximately 30 degrees. The drone can be configured to flip from the first tilting surface to fly at a height h8 above the surface 806b. The flip angle can range from approximately 89 degrees to approximately 179 degrees. The radius of the arc (defining the path of motion of the drone during the flip) can be in the range of approximately 0.2 meters to approximately 0.6 meters. Figure 8 In one embodiment, after the flip, the drone can remain in the air and does not need to contact the horizontal plane 806b. During the flip, the drone may include an intermediate flight orientation 800c that differs from the first flight orientation by less than 90 degrees and from the second flight orientation by less than 90 degrees. Optionally, the intermediate flight orientation can be any angle smaller than the angular difference between the first and second flight orientations.

[0132] Figure 9 A schematic diagram is shown illustrating how a drone changes its orientation when it flips from a downwardly tilted surface to a horizontal landing surface, according to an embodiment of the present invention.

[0133] In addition to the following differences Figure 9 The embodiments in can be similar to Figure 7 Examples are shown in the text. Figure 9 In this configuration, a drone in a first orientation 900a can be configured to flip from a first downward-tilting surface 906a to a horizontal surface 906b in a second orientation 900b. The first downward-tilting surface can be tilted downwards from the horizontal surface by approximately 35 degrees. The drone can be configured to flip from the first downward-tilting surface to the horizontal surface. The flip angle can range from approximately 181 degrees to approximately 269 degrees. The radius of the arc (defining the path of motion of the drone during the flip) can range from approximately 0.2 meters to approximately 0.6 meters. In some embodiments, the drone can contact the horizontal surface after the flip. The drone can then resume flight from the horizontal surface in a second flight orientation. During the flip, the drone can include an intermediate flight orientation 900c that differs from both the first and second flight orientations by more than 90 degrees. Optionally, the intermediate flight orientation can be any angle smaller than the angle difference between the first and second flight orientations.

[0134] Figure 10 A schematic diagram is shown illustrating how a drone, according to an embodiment of the present invention, changes its orientation when it flips from a downward-sloping surface into mid-air.

[0135] In addition to the following differences Figure 10 The embodiments in can be similar to Figure 9 Examples are shown in the text. Figure 10 In this configuration, the drone in the first orientation 1000a can be configured to flip from the first downward tilting surface 1006a to the horizontal surface 1006b in a second orientation 1000b. The first downward tilting surface can be tilted downwards from the horizontal surface by approximately 25 degrees. The drone can be configured to flip from the first downward tilting surface to the horizontal surface. The flip angle can range from approximately 181 degrees to approximately 269 degrees. The radius of the arc (defining the path of motion of the drone during the flip) can be in the range of approximately 0.2 meters to approximately 0.6 meters. Figure 10 In one embodiment, after the flip, the drone can fly without needing to contact the horizontal plane. The drone can then take a second flight orientation at a height h above the horizontal plane. 10 Resuming flight. During the rollover, the UAV may include an intermediate flight orientation 900c that differs from both the first and second flight orientations by more than 90 degrees. Optionally, the intermediate flight orientation can be any angle smaller than the angular difference between the first and second flight orientations.

[0136] Figure 11 A schematic diagram is shown of a drone changing its orientation in response to a user command, according to an embodiment of the present invention.

[0137] User 1110 can communicate with the drone using controller 1106. The drone, initially in a first flight orientation 1100a with its bottom 1102 facing upwards and its top 11011 facing downwards, can receive a wireless signal 1108 from user 1110 and can flip into a second flight orientation 1100b with its bottom 1102 facing downwards and its top 1104 facing upwards, and resume flight after the flip. User commands can initiate the flip of the drone when it is on the ground, taking off, landing, or in normal flight.

[0138] The drones and / or methods disclosed herein may include a signal instructing user input to initiate a drone rollover. The user input is provided via a remote user terminal 1106 of the drone. In some cases, the signal is generated at the user terminal and transmitted from the user terminal to the drone via one or more communication channels 1108. In some cases, the user input for initiating the rollover may only initiate a rollover and not other actions of the drone. In a further case, a rollover of the drone from a first orientation 1100a to a second orientation 1100b results in a change of at least 170 degrees in the drone's orientation. The first orientation may be the drone upside down, while the second orientation may be the drone facing upwards. In some cases, the user input may be a single action that enables the drone to roll from the first orientation to the second orientation. The signal instructing the user input may be acquired when the drone is on an underlying surface or in flight.

[0139] The drone may include one or more protectors to prevent one or more propulsion units from directly contacting the underlying surface.

[0140] By controlling one or more rotor blades separately or together, the drone's flipping can be automatically or manually controlled by the user 1110 via remote controller 1106. Specifically, the control of one or more rotor blades can include the rotational speed and rotational direction of one or more rotor blades. For example, the upper left and lower right rotor blades of the drone can be controlled (e.g.,...). Figure 13 (1 and 3) rotate clockwise at a first speed or at two different speeds, and the upper right and lower left rotor blades of the drone can be controlled (e.g., Figure 13 (2 and 4) rotate counterclockwise at a second speed or at two different speeds (when viewed from the top of the drone), and the speed of each set of rotors in the same propulsion unit can be controlled so that the upper left side of the drone (e.g.) Figure 13 1) Along the yaw axis ( Figure 1 The z-axis in the middle moves higher than other propulsion units.

[0141] A drone's flip can result in rotational, translational, horizontal, vertical, or a combination thereof. After a flip, the drone may be in different or the same position in three dimensions. During the flip, the drone may have translational, rotational, horizontal, vertical, or a combination thereof.

[0142] The controller or terminal 1106 may include a user interface, such as a keyboard, mouse, joystick, touchscreen, microphone, electronic display, etc. Any user input can be used to interact with the controller, such as manually entered commands, voice control, gesture control, eye movement, or position control (e.g., movement, positioning, or tilting via the terminal).

[0143] Different types of actions by the user 410 can initiate a flip. A single user action can initiate a flip process. In some cases, a single action is selecting a button or touchscreen on the drone's remote terminal. Alternatively, a single action can be a switch flip on the drone's remote terminal, a verbal command registered by the drone's remote terminal, a change in the attitude of the drone's remote terminal, or any other action. Alternatively, a manual process with user-controlled motion parameters can initiate a flip in any way that may occur. Alternatively, the user can select from a predefined list of options to initiate different types of flips with different motion parameters. Alternatively, the user can directly move a joystick or similar device to control the drone's related movements and cause a flip.

[0144] The drone communicates with the controller or terminal 1106 via communication channel 1108. This communication via the channel can be one-way or two-way. Any communication channel can be used, such as a wired or wireless communication channel. For example, communication can use one or more of the following: Local Area Network (LAN), Wide Area Network (WAN), infrared, radio, Wi-Fi, peer-to-peer (P2P) network, telecommunications network, cloud communication, Bluetooth, etc. Optionally, a relay station such as a tower, satellite, or mobile station can be used. Wireless communication can be short-range dependent or not. In some embodiments, line-of-sight communication may or may not be required.

[0145] User-controlled drone flipping offers advantages. In some situations, when the camera only captures the view from a certain angle of the drone, the user can flip the drone to capture images that would otherwise be unavailable. Alternatively, when the drone is out of the user's sight, the user can choose to flip it and have it automatically return to the user via a flipped and correspondingly reversed flight path. As another example, when the bottom edge of the drone's protective canopy encounters some functional obstruction and may not be able to land properly in its current orientation, the user can choose to flip the drone and use the top edge of the canopy for a protected landing after the flip. As yet another example, when the drone may be trapped by external objects and cannot resume flight through its automatic controls, the user can activate the drone's automatic return function, allowing the drone to reverse its path and return to its starting position. Figure 12 A schematic diagram of a flight control system for a drone capable of changing its orientation according to an embodiment of the present invention is shown.

[0146] The drone may include a flight control unit 1202 that transmits control commands to one or more electronic speed controllers (ESCs) 1204a, 1204b. The ESC 1204a may interpret the control commands received from the flight control unit 1202 to control the propulsion unit 1206a, the protective shield 1208a, multiple rotor blades 1210a, and actuators 1212a for the rotor blades 1210a. Additionally, the flight control unit may control communication with the drone's remote controller, optional landing gear, and / or one or more sensors.

[0147] The unmanned aerial vehicle (UAV) disclosed herein may include one or more processors (e.g., located at a flight control unit or one or more electronic speed controllers) configured individually or collectively to generate a signal that causes the UAV to flip from a first orientation to a second orientation opposite to the first orientation; and one or more propulsion units that, in response to the signal, enable the UAV to flip from the first orientation to the second orientation.

[0148] The flight control unit 1202 may include one or more components for controlling the UAV and one or more elements therein. The flight control unit may include one or more components selected from: digital processing devices, processors, digital filters, data communication links, power supplies, computer memory, databases, algorithms, operating systems, computer programs, application programs, software modules, non-transitory computer media, etc. The flight control unit may be located on the UAV to allow for rapid communication and effective control of the UAV from that unit. The flight control unit may be located in one or more different locations, including: the central body, propulsion units 1206a, 1206b, rotors 1210a, 1210b, protective covers 1208a, 1208b, and structural supports. Optionally, the flight control unit may be located outside the UAV to reduce weight, minimize potential damage during UAV operation, and / or eliminate potential constraints on the flight control unit, including but not limited to the size, weight, power supply, and processing speed of the control unit.

[0149] The flight control unit may include one or more processors configured to individually or jointly control the orientation of a first set of rotating components and a second set of rotating components of one or more propulsion units. In some cases, the processor may be configured to generate signals to control one or more propulsion units. In some cases, signals from one or more processors may be configured to cause the UAV to change orientation between a first orientation and a second orientation.

[0150] The flight control unit 1202 can communicate bidirectionally with one or more sensors, controllers, and / or terminals. The flight control unit 1202 can receive data from one or more sensors, process data from one or more sensors, store signals from one or more sensors, and / or generate control signals to control one or more propulsion units. Optionally, the flight control unit can receive signals from one or more controllers or terminals, process signals from one or more controllers or terminals, store signals from one or more controllers or terminals, and / or generate control signals to one or more propulsion units. The flight control unit can automatically generate control signals to the electronic speed controllers 1204a and 1204b based on data received from one or more sensors or one or more terminals. Optionally, the flight control unit can transmit manual signals from terminals or controllers to form control signals to the rotors. In some cases, data processing at the flight control unit may include, but is not limited to: denoising, segmentation, pattern recognition, statistical analysis, truncation, filtering, sampling, algebraic operations, frequency analysis, thresholding, compression, decompression, encryption, decryption, signal conversion, etc. The flight control unit can also receive data from one or more propulsion units, process data from one or more propulsion units, store data from one or more propulsion units, or send data to one or more sensors, controllers, and / or terminals. This communication can serve as feedback for the operation of the UAV.

[0151] The drone may include an electronic speed controller (ESC) unit 1204a, 1204b that communicates directly with the flight control unit 1202 and one or more propulsion units 1206a, 1206b and the components therein. The ESC may or may not be part of the flight control unit. The ESC may or may not be physically located at or near the flight control unit. The ESC may be located in one or more different locations, including: the central body, propulsion units 1206a, 1206b, rotors 1210a, 1210b, protective shields 1208a, 1208b, and structural supports. Optionally, the ESC may be located outside the drone to reduce weight, minimize potential damage during drone operation, and / or eliminate potential constraints on the flight control unit, including but not limited to the control unit's size, weight, power supply, and processing speed. The ESC may communicate directly or indirectly (using an intermediary, such as the flight control unit 1202) with one or more sensors, controllers, and / or terminals. Communication to or from the ESC may be unidirectional or bidirectional. Communication can be unidirectional, from the flight control unit to the ESC and then to one or more propulsion units and their components. Communication can also be bidirectional, allowing the ESC to detect the velocity at one or more propulsion units and their components, and then transmit it to the flight control unit.

[0152] An ESC may include one or more processors configured to individually or jointly control the orientation of a first set of rotating components and a second set of rotating components of one or more propulsion units. In some cases, the processors may be configured to generate signals to control one or more propulsion units. In some cases, signals from one or more processors may be configured to cause the UAV to change orientation between a first orientation and a second orientation. In some cases, signals are provided by one or more ESC units to one or more corresponding propulsion units, the ESC units being configured to individually control the speed and / or orientation of one or more corresponding rotating components of one or more propulsion units. In some cases, signals from one or more ESC units are configured to cause the UAV to change orientation between a first orientation and a second orientation. In some cases, the one or more rotating components include rotor blades. In some cases, the first orientation of the UAV is upside down. In some cases, the second orientation of the UAV is face up.

[0153] ESCs 1204a and 1204b can convert integrated signals from the flight control unit into individual speed control signals, allowing at least one element of at least one propulsion unit to be controlled by the ESC. The ESC or flight control unit 1202 can use existing or current speed, position, orientation, voltage, current, and / or power data as input, future speed, position, orientation, voltage, current, and / or power data as output, and calculate parameters of the propulsion unit elements that can transform the UAV's input data into output data. The duration of the speed control process may be another input that the ESC considers. The ESC may include a feedback system to control the speed of the propulsion unit. As an example, if the current speed of the rotor blade 1210a in a propulsion unit 1206a is 1000 rpm and the actuator power is 10, the ESC compares the future speed to 1000 rpm; if the flight control unit sends a future speed of 3000 rpm, the ESC can increase the power level to 30. Optionally, the ESC can gradually increase power and monitor the rotor blade speed in real time, then adjust the power accordingly based on the real-time rotor blade speed until the speed target set by the flight control unit is reached. Optionally, the ESC can search a pre-existing lookup database, etc., regarding speed-power relationships, and use the desired speed to pinpoint the precise power.

[0154] ESCs 1204a and 1204b can be any type of ESC applicable to unmanned aerial vehicles (UAVs). The ESC can be used for similar purposes as a throttle servo system in a Glow-Powered aircraft. The ESC can be electrically and / or electronically connected to a power source (e.g., a battery), the flight control unit 1202, and the actuators 1212a and 1212b. The ESC may include electronic circuitry to change speed and direction and may also function as dynamic braking of the actuators 1212a and 1212b, thereby controlling the rotation of the rotor blades 1210a and 1210b. The ESC may contain a microcontroller for interpreting input signals from the flight control unit 1202 and appropriately controlling the actuators using built-in or custom programs. The ESC can have an update rate of approximately 0.001 Hz to approximately 5000 Hz. The ESC can send output control signals to the rotor at a constant or variable update rate. The output signal sent by the ESC to the motor can be an AC signal with a specific AC frequency and voltage level. The output signal may also have different phases. In some cases, the ESC can accept a 50Hz input signal from the flight control unit 1202 or a servo with a pulse width varying from 1 millisecond (ms) to 2 ms. When a 1ms pulse is provided at a frequency of 50Hz, the ESC can respond by shutting down the actuators attached to its output. A 1.5ms pulse width input signal can drive the actuator at approximately half speed. When a 2.0ms input signal is provided, the motor can operate at full speed. The input signal received by the ESC from the flight control unit 1202 can be an AC signal with a specific voltage level. The output signal can also have a different phase. Alternatively, the input signal can be any electrical or electronic signal that can be converted into an output waveform signal on the ESC.

[0155] Each ESC 1204a, 1204b can be positioned at different locations on the UAV. In some embodiments, the ESC can be located on the central body, on the protective shields 1208a, 1208b, on an optional arm extending from the central body and supporting the propulsion units 1206a, 1206b, on the propulsion unit, on the actuators 1212a, 1212b, on the optional landing gear, or at any other location on the UAV. Each propulsion unit 1206a, 1206b can include any number of rotor blades 1210a, 1210b. In some cases, each propulsion unit includes an even number of rotor blades. In some cases, each propulsion unit includes at least 2, 4, or 6 rotor blades. Each rotor blade of the same propulsion unit is attached to the actuator 1212a, directly or indirectly to the same actuator at its proximal end (e.g., as shown in the image). Figure 1(As shown). The total number of rotor blades is evenly distributed along the circular area. As an example, four rotor blades can be evenly distributed with their adjacent blades at 90 degrees. The distal end of each rotor blade extends outward. When the drone is top-up, each rotor blade has a generally upward-facing top surface (with or without a tilt angle) and a generally downward-facing bottom surface (with or without a tilt angle) at the drone's initial takeoff orientation. When the drone is approximately horizontal, a tilt angle may exist between the horizontal surface and the top or bottom surface.

[0156] The drone may include one or more protective shields 1208a, 1208b to prevent one or more propulsion units from direct contact with external objects. The drone may include at least one protective shield 1208a, 1208b for the propulsion units 1206a, 1206b. In some cases, the height of the one or more protective shields is greater than the height of the drone's central body. In some cases, the height of the one or more protective shields is greater than the height of the one or more propulsion units. In some cases, each of the one or more protective shields 1208a, 1208b, ... forms a channel surrounding the corresponding propulsion unit of the one or more propulsion units. In some cases, when the drone is flying, landing, taking off, and / or changing orientation, the protective shields protect the remaining components of the propulsion units from damage or unintended impacts from external sources. Figure 1 As can be seen in section 106, the protective shield can have any three-dimensional geometry, including channels surrounding corresponding propulsion units of one or more propulsion units. In some cases, each protective shield includes a sleeve in which a propulsion unit is disposed. In some cases, when the UAV is located on the underlying surface, one or more protective shields allow one or more rotating components of one or more propulsion units to rotate in a first or second direction. The rotating components may include rotors (or multiple rotor blades), a set of rotors, and / or motors actuating the rotors. The top and bottom of the channels or sleeves are not covered, but are covered and supported longitudinally from top to bottom. Other components of the propulsion unit may be enclosed in the channels / sleeves of the protective shield. Other components may also be positioned longitudinally toward the center of the chamber to provide optimal protection, support, and / or weight distribution for the propulsion unit. The protective shield is preferably cylindrical. The protective shield may have other three-dimensional shapes. Examples include cubes, cuboids, soccer balls, spindles, hourglasses, ovals, etc. One or both of the top and bottom surfaces of the protective cover may not be fully covered to allow proper ventilation and airflow from inside the cover to outside.

[0157] Each propulsion unit 1206a, 1206b may include actuators 1212a, 1212b for driving rotation of rotor blades. The actuators may be connected to one or more rotor blades via shafts. Rotation of the actuators causes rotation of the shafts, which in turn causes rotation of the rotor blades. Any description of a shaft may also apply to multiple shafts that can be driven by the same actuator. The actuator may be an electric motor. Any drive mechanism may be used for the actuator, such as a DC motor (brushed or brushless), an AC motor, a stepper motor, a servo motor, etc. Movement may be actuated by any actuation mechanism, such as an engine or an electric motor. The UAV may include one or more engines, electric motors, wheels, shafts, magnets, rotors, propellers, blades, nozzles, or any combination thereof. Furthermore, different actuators may operate dependently or independently to actuate the respective propulsion units for different rotational motions. In some embodiments, propulsion unit 1206a may be actuated to have a rotational direction opposite to that of propulsion unit 1206b and a different rotational speed. The differences allowed by the drone's actuators can greatly facilitate the proper functioning of the drone, especially changes in its flight orientation.

[0158] Each propulsion unit 1206a, 1206b may include a support structure. The support structure prevents at least a portion of the protective shield from collapsing. The support structure contacts the protective shield at one end of its inner surface and contacts the actuator, rotor blades, rotating shaft, and / or other components within the protective shield. The support structure may be located closer to the center of the protective shield than its two edges along its longitudinal direction. In some embodiments, a propulsion unit includes at least one ESC. The ESC may be located longitudinally near the center of the protective shield without impeding the rotation of the rotor blades. The ESC may be attached to each rotor blade near or close to the proximal end of the blade. In some cases, one ESC is attached to or close to the actuator or rotating shaft. In some cases, at least two ESCs are included, one attached to or close to the rotor blade and the other attached to or close to the actuator or rotating shaft.

[0159] The orientation, speed, or flight direction of the UAV can be altered by controlling the rotational speed and / or direction of one or more propulsion units 1206a, 1206b. Similarly, the orientation, speed, or flight direction of the UAV can be altered by controlling the rotational speed and / or direction of one or more rotor blades. The roll type and roll speed of the UAV can be controlled by controlling each propulsion unit individually or together. For example, the rotor speed and rotor direction can be controlled individually for each propulsion unit. For a UAV with four propulsion units, eight independent parameters can be controlled independently or in combinations of any integer between two and eight, resulting in a variety of possible combinations of rotational speeds and directions in one to four propulsion units. By using these different combinations, the orientation, speed, flight direction, acceleration, lift, or other characteristics of the UAV as described above can be controlled. As an example, upon detecting an obstacle to the left of the UAV, the UAV can increase the rotational speed of the two propulsion units on the left side, allowing the left side to rise further than the right side to avoid the obstacle. As another example, when a drone collides with an obstacle and accidentally flips over, it can automatically reverse the rotation direction of all propulsion units and increase the rotational speed of the left propulsion unit, making it higher than the speed of the right propulsion unit. The left side of the drone then rapidly lifts, initiating a 180-degree flip of the entire drone. The rotational speed and direction of each propulsion unit can be adjusted during and after the flip.

[0160] The flipping speed can have a constant magnitude and different directions. The magnitude and direction of the flipping speed may both be different. The magnitude of the flipping speed can include any shape of waveform that starts at zero at the beginning of the flip and ends at zero at the end of the flip.

[0161] Figure 13 A schematic diagram is shown showing the rotation direction of the propulsion unit of the UAV when the UAV is in different orientations according to an embodiment of the present invention.

[0162] The drone may have four propulsion units 1, 2, 3, and 4 extending from a central body 1302. When viewed from the top of the drone, the first propulsion unit 1 extends from the upper left of the central body, the second propulsion unit 2 extends from the upper right of the central body, the third propulsion unit 3 extends from the lower right of the central body, and the fourth propulsion unit 4 extends from the lower left of the central body. When the drone is in a frontal orientation (i.e., the top side of the drone is facing upwards), two propulsion units 1 and 3 can rotate clockwise, while the other two propulsion units 2 and 4 can rotate counterclockwise. When the drone is flipped 1312 about a flip axis 1305 to be in an upside-down orientation (…),… Figure 13 When the drone is positioned (lower right side), its bottom can face upwards, and the position of the propulsion unit can be mirrored about the rotation axis 1305. For example... Figure 13As shown in the lower right, to enable the drone to take off or fly in an upside-down orientation, propulsion units 1 and 3 can rotate counterclockwise, while propulsion units 2 and 4 can rotate clockwise in the opposite direction. Conversely, when the drone flips around another rotation axis 1307 to be in another upside-down orientation ( Figure 13 When the drone is positioned (top left of the center), its bottom can face upwards, and the position of the propulsion unit can be mirrored around the rotation axis 1307. For example... Figure 13 As shown in the upper left, in order for the drone to take off or fly when it is upside down, propulsion units 1 and 3 can rotate counterclockwise, while propulsion units 2 and 4 can rotate clockwise in the opposite direction.

[0163] In some embodiments, the drone may have at least four propulsion units 1, 2, 3, and 4. Similar to a quadcopter helicopter or quadcopter, the four propulsion units may use two sets of rotor blades. The rotor blades of propulsion units located along the same diagonal axis of the drone may be in the same set (e.g., 1 and 3, or 2 and 4). The rotating components may be multiple sets of rotor blades. When the drone is in a first orientation, the first set of rotating components (e.g., 1 and 3) may be configured to rotate in a first direction, and the second set of rotating components (e.g., 2 and 4) may be configured to rotate in a second direction. Conversely, when the drone is in a second orientation opposite to the first orientation (left and right figures), the first set of rotating components may be configured to rotate in the second direction, and the second set of rotating components may be configured to rotate in the first direction. As an example, when the drone is viewed from the top in a front-up orientation, the blades of the propulsion units at the top left (1) and bottom right (3) may rotate clockwise, while the blades of the propulsion units at the top right (2) and bottom left (4) may rotate counterclockwise. When the drone changes its flight orientation, the two sets of blades can change their rotation direction, so that the set initially rotating clockwise can rotate counterclockwise, and the set initially rotating counterclockwise can rotate clockwise. In some cases, the rotor blades can have a fixed pitch. Two propulsion units along the drone's diagonal axis (upper right to lower left or upper left to lower right) can rotate at the same speed or at different speeds in the same direction. Two propulsion units not on the same diagonal axis (upper right to lower left or upper left to lower right) can rotate at the same speed or at different speeds in different directions. By changing the speed of the motors actuating each set of rotor blades, thereby changing the rotational speed of each set of rotor blades, thrust can be generated to propel the drone in three spatial dimensions, or desired torque (or rotational force) can be generated to change the drone's orientation (attitude). For example, the drone's altitude can be controlled by adjusting the power of all four motors. Turning left or right, or changing altitude, can be achieved by decreasing or increasing the speed of each rotor.

[0164] When the drone is in a different orientation than its face-up orientation, the same rotation direction of the propulsion units may not generate lift for the drone. However, by reversing the rotation direction, lift can be generated for the drone when it is in a different flight orientation. The reverse direction can be counterclockwise for one or more propulsion units and clockwise for the remaining propulsion units of the drone. Alternatively, by using... Figure 13 As shown in the lower right corner, the drone can gain sufficient lift by reversing its orientation. When the drone is in the opposite flight orientation, and if the rotation direction does not change, the drone may lose lift and be subject to downward drag and gravity. To provide lift to the drone, for example... Figure 13 As shown, all rotor blades can reverse their rotation direction.

[0165] Each set of rotor blades (1, 2, 3, or 4) may include a pitch. The pitch of the same set of rotor blades along the same diagonal axis of the drone can be approximately the same. To adjust the thrust or torque of the drone, the rotor blade pitch can remain constant or vary over time. The rotor blade pitch can be adjusted independently over time via ESC, flight control unit, remote controller, terminal, or a combination thereof. As an example, the drone can automatically or via external control change its pitch in flight to provide optimal thrust across the drone's maximum speed range during takeoff, landing, flight, and hovering. As another example, a low pitch can be used to generate good low-speed acceleration and climb rate during takeoff, while a high pitch optimizes high-speed performance during flight.

[0166] The rotor blades can rotate within one or more planes, which may be substantially parallel to the top and / or bottom surfaces of the UAV's central body 602. The rotor blades can also rotate within one or more planes, which may be substantially perpendicular to the longitudinal axis of the protective shield. Figure 1 The z-axis is perpendicular to the top and / or bottom edge of the protective shield. The rotor blade's axis of rotation may be perpendicular to the horizontal plane. Figure 1 (xy plane in the middle). The axis of rotation of the rotor blades may be perpendicular to one or more arms 1304 that extend from the central body 602 and support the propulsion units 1, 2, 3, 4.

[0167] A change in the rotational parameters of one or more rotor blades may cause the drone to flip. Changes in rotational parameters may include one or more parameters selected from: rotor blade angle of attack, rotor blade pitch, blade rotational speed, rotor blade direction of rotation, etc. A change in the rotational parameters of one or more rotor blades may result in changes in lift, thrust, torque, flip, or a combination thereof. As an example, increasing the rotational speed of one or more rotor blades on the right side of the drone and / or changing their pitch may increase torque generated on the right side and / or increase lift, which may cause the horizontally balanced drone to flip upside down, either right-side up, upper right-side up, or lower right-side up, and then the drone may flip approximately 180 degrees, making it upside down.

[0168] The drone can flip around flip axes 1305 and 1307, which are parallel to the drone's roll or pitch axis. The flip axes can be located away from the drone. The distance from the drone to the flip axes can be approximately the same before or after flip 1312. As an example, propulsion unit 1 can have a similar distance from the flip axes before or after flipping.

[0169] Figure 14 A schematic diagram of a drone capable of flipping along the diagonal of its central body, according to an embodiment of the present invention, is shown.

[0170] In addition to the following differences Figure 14 The embodiments may be similar to Figure 13 Examples of implementations. In Figure 14 In this configuration, the flip axes 1405 and 1407 can be along the diagonal of the same set of propulsion units connecting the UAV. Flip axis 1407 can extend between propulsion units 1 and 3 in the same set; and flip axis 1405 can extend between propulsion units 2 and 4 in the same set. The flip axes can be parallel to... Figure 1 The xy plane shown lies within the plane. The flip axis can be at approximately 45 degrees to the roll and pitch axes of the drone. The distances from the drone to flip axes 1405 and 1407 can be approximately the same before or after flip 1412. As an example, the geometric center of the central body can have a similar distance from the flip axis before or after flip 1412. The flip axis may partially overlap with the drone.

[0171] Figure 15 A schematic diagram of a drone according to an embodiment of the present invention is shown, which is capable of rotating about a plurality of axes defined relative to the central body of the drone.

[0172] In addition to the following differences Figure 15 The embodiments may be similar to Figure 13 Examples of implementations. In Figure 15 In the middle, the flip axis 1501 can be parallel to, for example Figure 1The tilt axis lies within the xy-plane shown. It can be at any angle to the UAV's pitch, roll, or yaw axes. This angle can be any angle ranging from approximately 0 degrees to approximately 90 degrees. The tilt axis can intersect the UAV's center body. Alternatively, the tilt axis can be offset from the UAV's center body. Accordingly, by adjusting the speed and direction of rotation of the propulsion unit's rotors, the UAV can be configured to tilt about any axis defined in three-dimensional space.

[0173] Figure 16 Illustrations of various components of a drone according to embodiments of the present invention are provided. The drone may have a central body 1602, which has a lower height than the protective cover 1606. The height h of the central body is... b It can be less than the height h of one or more protective covers. pc When the UAV lands in an orientation (e.g., face-up orientation) 1600b, the protective shield can contact the landing surface using its second portion (e.g., the bottom edge), and the central body 1702 can be positioned such that it does not contact the landing surface when the UAV lands in any orientation. The width 1604 of the protective shield 1606 is sufficient to include one or more rotor blades 1610 and allow them to rotate without contacting the longitudinal walls of the protective shield. The height h of the rotor blades 1610 is... rb It can be less than the height h of one or more protective covers. pc Furthermore, the rotor blades can be fully positioned longitudinally to the center of the protective shield 1606. The rotor blades 1610 can be positioned such that they do not contact the landing surface or the protective shield when the UAV lands in any orientation. The propulsion unit 1604 can be connected to the distal end of an arm extending from the central body 1602.

[0174] The central body 1602 can have any three-dimensional arbitrary shape, providing sufficient space to accommodate payload, power supply, sensors, etc. The central body can have any shape, providing support for one or more propulsion units or arms attached thereto. Examples of the central body can be cubes, cuboids, soccer balls, spindles, hourglasses, ovals, cylinders, etc. The central body may include interfaces on its surface, allowing one or more arms or propulsion units to switch between a folded / compact configuration and an extended / flying configuration. In some embodiments, the central body has a shape and density capable of achieving a predetermined weight distribution for the entire UAV. The central body may have an outer surface protected by one or more protective shields. The central body may have an outer surface that does not contact any of the outer bodies contacted by one or more protective shields.

[0175] In some cases, each propulsion unit is directly attached to the outer surface of the central body 1602. This attachment can be achieved through a protective shield 1606 (e.g., as shown in the image). Figure 1(As shown) Attachment. Optionally, each propulsion unit can be attached to the central body via an arm 1612 extending from the outer surface of the central body. The proximal end of the arm 1612 can be attached to the outer surface of the central body 1602 via an optional interface. The distal end of the arm can contact a support, protective cover 1606, hub, actuator, or combination thereof for the propulsion unit via another optional interface.

[0176] The drone may include at least one protective shield 1606 for each propulsion unit. The drone may include at least one protective shield protecting two or more propulsion units. When the drone is flying, landing, taking off, and / or changing direction, the protective shield protects the components of the propulsion units from damage from external sources or unintended collisions. (As in...) Figure 1 As can be seen in 106, the protective shield can have any three-dimensional geometry, including channels or sleeves in which the corresponding propulsion units are disposed. The top and bottom of the channels may be uncovered, but are covered and supported longitudinally from top to bottom. Elements of the propulsion unit (e.g., rotor blades 1610) may be enclosed within the channels of the protective shield. The elements may also be positioned longitudinally toward the center of the chamber to provide optimal protection, support, weight balance, and / or weight distribution for the propulsion unit. The protective shield is preferably cylindrical. The protective shield may have other three-dimensional shapes. Examples include cubes, cuboids, soccer balls, spindles, hourglasses, ovals, tubes, sleeves, etc. One or both of the top and bottom surfaces of the protective shield may not be fully covered to allow proper ventilation and airflow from inside to outside the protective shield. The walls of the protective shield may be solid. Alternatively, the walls of the protective shield may be frames with various frame patterns that provide sufficient support for the drone. Framed protective shields can be used to allow less restricted air contact compared to solid shields. A framed protective shield can add less weight to a drone. A solid protective shield can provide more comprehensive protection for the drone. Solid or framed protective shields can be chosen based on the different uses of the drone and the different types of environments in which the drone primarily flies. The shield can have an asymmetrical shape from its top edge to its bottom edge so that it looks different when inverted. The shield can have a shape that is symmetrical about its central cross-section along the longitudinal direction. When the drone flips 180 degrees and changes its orientation, the shield may look the same if it is symmetrical. The shield can be shaped or configured to facilitate the same or different thrust in different orientations. As an example, a channel or chamber in the shield can increase the thrust generated by the corresponding propulsion unit within it by at least about 5%, about 10%, about 15%, or about 20% compared to the thrust generated without the channel. This thrust-enhancing advantage can be used for at least one, two, or more flight orientations of the drone.

[0177] In some cases, each protective shield may include a first portion 1606a and a second portion 1606b. In some cases, when the drone is in a second orientation 1600b (e.g., face-up orientation), the first portion of the protective shield is positioned above the main body 1602 in the lift direction 1601 generated by one or more propulsion units. In some cases, when the drone is in a first orientation (e.g., upside-down orientation), the second portion of the protective shield is positioned above the main body in the lift direction generated by one or more propulsion units (e.g., towards the underlying surface). In some cases, when the drone is positioned face-up along a horizontal plane (e.g., the orientation for initial takeoff of the drone), regardless of the drone's flight orientation, the first and second portions of the protective shield may refer to the top and bottom of the protective shield, respectively.

[0178] The protective shield 1606 may include at least one deformable material, at least one rigid material, and / or at least one non-deformable material. The protective shield may include at least one material having an elastic modulus not greater than about 1 gigapascal (GPa). The protective shield may include at least one material having an elastic modulus between about 1 and about 10 GPa. The protective shield may include at least one material having an elastic modulus not less than about 10 GPa, about 20 GPa, about 30 GPa, about 40 GPa, about 50 GPa, about 60 GPa, about 70 GPa, about 80 GPa, about 90 GPa, or about 100 GPa. The protective shield may include at least one material with an elastic modulus less than about 1 pound per square inch (PSi). The protective shield may include at least one material having an elastic modulus less than about 5 pound per square inch. The protective shield may include at least one material having an elastic modulus greater than about 5 PSi. The protective shield may include at least one material having an elastic modulus greater than about 50 PSi. The protective shield may include at least some materials having an elastic modulus greater than about 200 PSi. The protective cover may include at least one material having an elastic modulus greater than about 500 Psi. The protective cover may also include at least one material having an elastic modulus greater than about 2000 Psi.

[0179] The protective shield 1606 may have a height of approximately 2 cm to approximately 60 cm. The central body may have a height of approximately 1 cm to approximately 45 cm. The rotor blades may have a height of approximately 1 cm to approximately 40 cm. The rotor blades may have a length of approximately 2 cm to approximately 35 cm. The central body may have a minimum dimension of approximately 1 cm to approximately 40 cm.

[0180] Each propulsion unit may include any number of rotor blades 1610. In some cases, each propulsion unit includes an even number of rotor blades. In some cases, each propulsion unit includes at least 2, 4, or 6 rotor blades. Each rotor blade of the same propulsion unit is attached to an actuator, directly or indirectly to the same actuator at its proximal end. And the total number of rotor blades in each propulsion unit may be evenly distributed, and the gap between any two adjacent rotor blades may be approximately the same sector. As an example, 4 rotor blades may be at 90 degrees to their adjacent rotor blades and evenly distributed. The distal end of each rotor blade extends outward. The proximal end of each rotor blade may be rotatably connected to an actuator or a rotation shaft. When the top of the UAV is facing upward, each rotor blade has a generally upward top surface (with or without a tilt angle) and a generally downward bottom surface (with or without a tilt angle) in the initial takeoff orientation of the UAV. When the UAV is approximately horizontal, there may be a tilt angle between the horizontal plane and the top or bottom surface. The top and bottom surfaces of each rotor blade may be sufficiently flat. The top and bottom surfaces of each rotor blade may not be perfectly flat; they may have protrusions, grooves, depressions, concave surfaces, protruding structures, ribs, etc.

[0181] Each propulsion unit may include at least one protective shield 1606. When the UAV is flying, landing, taking off, and / or changing direction, the protective shield protects the components of the propulsion unit within it from damage or unintended impacts from external sources. These components of the propulsion unit may include all rotor blades, all support structures, all actuators, all sensors, rotation shafts, all ESCs, and all flight control units within them. Furthermore, when the UAV is flying, landing, taking off, and / or changing direction, the protective shield also protects the central body 1602 and the components located on or within the central body from damage or unintended impacts from external sources. The protective shield also protects the optional arms 1612 of the UAV. The height h of one or more protective shields... pc It can be greater than the height h of the central body. b Furthermore, the central body can be positioned at the height h of the protective shield. pc Near the center. Similarly, the height h of one or more protective shields. pc It can be greater than the height h of the rotor blades. rc Furthermore, the rotor blades can be positioned at the height h of the protective shield. pc Near the center. Similarly, the height h of one or more protective shields. pcThe height of the central body can be greater than that of the propulsion unit, which can be less than or equal to the total height of the rotor blades and motor. Thus, when the UAV lands or crashes onto the landing surface in any orientation, the central body can be suspended above the underlying surface, preventing contact with the landing surface or external objects. The central body can also be suspended in the forward / backward and / or left / right directions of the UAV, so that when the UAV lands down facing left, right, front, or rear, the central body does not contact the landing surface. In some cases, one or more protective covers serve as the landing gear for the UAV. In some cases, one or more protective covers serve as the landing gear for the UAV in a first orientation, a second orientation, or any other flight orientation. As an example, the top and / or bottom edges of the protective cover can serve as landing gear supports or partial landing gear, contacting the landing surface and allowing other components to remain suspended above the underlying surface. Because the protective cover protects the rotor blades and the central body, it facilitates UAV operation in various situations. In some situations, when a drone is in flight, a physical protective shield prevents the rotor blades from contacting tree branches or bushes, thus preventing the rotor blades from becoming entangled, blocked, or even damaged by branches or bushes. In other situations, when a drone falls in an unpredictable orientation (first left-hand downwards, then tilting to land on an uneven surface), the various parts of the shield can contact the landing surface (first the outer surface, then the bottom edge) and provide support for the entire drone, as well as protect the central body from impacting the landing surface or any external objects on it. This protects the central body and its components from damage or unintended impacts. The shield portions contacting the landing surface can be the top edge, bottom edge, and / or longitudinal walls of the shield. In some cases, the drone flips over and falls upside down onto uneven ground in strong winds. The top edge of the shield lands on the ground and protects the suspended central body.

[0182] Figure 17 A movable object 1700, comprising a carrier 1702 and a payload 1704, is shown according to an embodiment. As previously described, although the movable object 1700 is depicted as an aircraft, this description is not intended to be limiting, and any type of movable object can be used. Those skilled in the art will understand that any embodiments described herein in the context of an aircraft system can be applied to any movable object (e.g., a drone). In some cases, the payload 1704 may be mounted on the movable object 1700 without the need for a carrier 1702. The movable object 1700 may include a propulsion mechanism 1706, a sensing system 1708, and a communication system 1710.

[0183] As previously described, propulsion mechanism 1706 may include one or more of a rotor, propeller, blade, engine, motor, wheel, shaft, magnet, or nozzle. For example, as described elsewhere in this document, propulsion mechanism 1706 may be a self-tightening rotor, rotor assembly, or other rotary propulsion unit. A movable object may have one or more, two or more, three or more, or four or more propulsion mechanisms. All propulsion mechanisms may be of the same type. Alternatively, one or more propulsion mechanisms may be of different types. Propulsion mechanism 1706 may be mounted on movable object 1700 using any means employing support elements (e.g., drive shafts) as described elsewhere in this document. Propulsion mechanism 1706 may be mounted on any part of movable object 1700, such as its top, bottom, front, rear, sides, or suitable combinations thereof.

[0184] In some embodiments, propulsion mechanism 1706 may enable movable object 1700 to take off or land vertically on a surface without requiring any horizontal movement of movable object 1700 (e.g., not traveling along a runway). Optionally, propulsion mechanism 1706 may be operable to allow movable object 1700 to hover in the air at a designated position and / or orientation. One or more propulsion mechanisms 1700 may be controlled independently of other propulsion mechanisms. Optionally, propulsion mechanisms 1700 may be configured to be controlled simultaneously. For example, movable object 1700 may have multiple horizontally oriented rotors that can provide lift and / or thrust to movable object. Multiple horizontally oriented rotors may be actuated to provide movable object 1700 with vertical takeoff, vertical landing, and hovering capabilities. In some embodiments, one or more horizontally oriented rotors may rotate clockwise while one or more horizontal rotors may rotate counterclockwise. For example, the number of clockwise rotors may be equal to the number of counterclockwise rotors. The rotational rate of each horizontally oriented rotor can be varied independently to control the lift and / or thrust generated by each rotor, thereby adjusting the spatial layout, velocity, and / or acceleration of the movable object 1700 (e.g., relative to up to three translational degrees of freedom and up to three rotational degrees of freedom).

[0185] The sensing system 1708 may include one or more sensors capable of sensing the spatial arrangement, velocity, and / or acceleration of the movable object 1700 (e.g., relative to up to three translational degrees of freedom and up to three rotational degrees of freedom). The one or more sensors may include a Global Positioning System (GPS) sensor, a motion sensor, an inertial sensor, a proximity sensor, or an image sensor. The sensing data provided by the sensing system 1708 can be used to control the spatial arrangement, velocity, and / or orientation of the movable object 1700 (e.g., by using a suitable processing unit and / or control module, as described below). Optionally, the sensing system 1708 may be used to provide data about the environment surrounding the movable object, such as weather conditions, proximity to potential obstacles, location of geographic features, location of man-made structures, etc.

[0186] Communication system 1710 communicates with terminal 1712, which has communication system 1714, via wireless signal 1716. Communication systems 1710 and 1714 may include any number of transmitters, receivers, and / or transceivers suitable for wireless communication. Communication may be unidirectional, allowing data to be transmitted in only one direction. For example, unidirectional communication may involve only the movable object 1700 sending data to terminal 1712, and vice versa. Data may be transmitted from one or more transmitters of communication system 1710 to one or more receivers of communication system 1712, and vice versa. Alternatively, communication may be bidirectional, allowing data to be transmitted between movable object 1700 and terminal 1712 in both directions. Bidirectional communication may involve sending data from one or more transmitters of communication system 1710 to one or more receivers of communication system 1714, and vice versa.

[0187] In some embodiments, terminal 1712 may provide control data to one or more of the movable object 1700, carrier 1702, and payload 1704, and receive information from one or more of the movable object 1700, carrier 1702, and payload 1704 (e.g., position and / or motion information of the movable object, carrier, or payload; data sensed by the payload, such as image data captured by a payload camera). In some cases, control data from the terminal may include indications for the relative position, motion, actuation, or control of the movable object, carrier, and / or payload. For example, control data may result in a change in the position and / or orientation of the movable object (e.g., by controlling propulsion mechanism 1706), or motion of the payload relative to the movable object (e.g., by controlling carrier 1702). Control data from the terminal may result in control of the payload, such as controlling the operation of a camera or other image capturing device (e.g., taking still or moving pictures, zooming in or out, turning on or off, switching imaging modes, changing image resolution, changing focus, changing depth of field, changing exposure time, changing angle of view, or field of view). In some cases, communication from a movable object, carrier, and / or payload may include information from one or more sensors (e.g., sensing system 1708 or payload 1704). Communication may include sensing information from one or more different types of sensors (e.g., GPS sensors, motion sensors, inertial sensors, proximity sensors, or image sensors). This information may relate to the position (e.g., orientation), motion, or acceleration of the movable object, carrier, and / or payload. This information from the payload may include data captured by the payload or the sensed state of the payload. Control data provided and transmitted by terminal 1712 may be configured to control the state of one or more of the movable object 1700, carrier 1702, or payload 1704. Optionally or in combination, carrier 1702 and payload 1704 may also each include a communication module configured to communicate with terminal 1712, enabling the terminal to independently communicate with and control each of the movable object 1700, carrier 1702, and payload 1704.

[0188] In some embodiments, the movable object 1700 may be configured to communicate with another remote device other than or replacing terminal 1712. Terminal 1712 may also be configured to communicate with the other remote device and the movable object 1700. For example, the movable object 1700 and / or terminal 1712 may communicate with another movable object or a carrier or payload of another movable object. When desired, the remote device may be a second terminal or other computing device (e.g., a computer, laptop, tablet, smartphone, or other mobile device). The remote device may be configured to send data to the movable object 1700, receive data from the movable object 1700, send data to terminal 1712, and / or receive data from terminal 1712. Optionally, the remote device may be connected to the Internet or other telecommunications networks, such that data received from the movable object 1700 and / or terminal 1712 may be uploaded to a website or server.

[0189] While preferred embodiments of the invention have been shown and described herein, it will be apparent to those skilled in the art that such embodiments are provided merely as examples. Many variations, modifications, and substitutions will arise from this without departing from the invention. It should be understood that various alternatives to the embodiments of the invention described herein may be used in practicing the invention. The scope of the invention is intended to be defined by the claims, and the methods and structures within the scope of these claims and their equivalents are covered therewith.

Claims

1. A method for operating a drone, the method comprising: Signals are provided to control one or more propulsion units, thereby controlling the rotation directions of a first set of rotating components and a second set of rotating components of the one or more propulsion units, wherein when the UAV is in a first orientation, the first set of rotating components is configured to rotate along a first direction and the second set of rotating components is configured to rotate along a second direction, and when the UAV is in a second orientation opposite to the first orientation, the first set of rotating components is configured to rotate along the second direction and the second set of rotating components is configured to rotate along the first direction; The provision of signals to control one or more propulsion units further includes: When it is determined that a flip is needed based on the relationship between the UAV's current orientation and the landing surface, a signal is provided for flipping between the first orientation and the second orientation; and When the drone uncontrollably crashes onto the landing surface and accidentally flips to the first orientation, in response to user input received by a remote terminal wirelessly communicating with the drone, the drone is controlled to first change its orientation from the first orientation to the second orientation on the landing surface, and then, with the aid of the one or more propulsion units, the drone is controlled to take off from the landing surface in the second orientation. The first orientation corresponds to the top of the drone facing the landing surface, and the second orientation corresponds to the bottom of the drone facing the landing surface; and The one or more propulsion units are protected by one or more protective shields to prevent them from directly contacting external objects.

2. The method according to claim 1, further comprising: The rotation direction of the first set of rotating components and the second set of rotating components of the one or more propulsion units is controlled to generate lift for the UAV.

3. The method according to claim 2, further comprising: When the drone is in the first orientation or the second orientation, lift is generated when the drone takes off from the landing surface.

4. The method according to claim 1, characterized in that, The height of one or more protective covers is greater than the height of the drone body.

5. The method according to claim 1, characterized in that, The height of the one or more protective covers is greater than the height of the one or more propulsion units.

6. The method according to claim 1, characterized in that, When the drone is in the first orientation, a first portion of the one or more protective shields contacts the landing surface, and when the drone is in the second orientation, a second portion of the one or more protective shields contacts the landing surface.

7. The method according to claim 6, characterized in that, The first and second portions of the one or more protective shields are laterally opposite each other relative to the horizontal plane passing through the body of the drone.

8. The method according to claim 7, characterized in that, When the drone is in the first orientation, the second part is located above the main body in the direction of lift generated by the one or more propulsion units.

9. The method according to claim 7, characterized in that, When the drone is in the second orientation, the first part is positioned above the main body in the direction of lift generated by the one or more propulsion units.

10. The method according to claim 1, characterized in that, Each of the one or more protective shields forms a channel surrounding the corresponding propulsion unit in the one or more propulsion units.

11. The method according to claim 1, characterized in that, Each protective cover includes a sleeve in which the propulsion unit is housed.

12. The method according to claim 1, characterized in that, When the UAV is on the landing surface, the one or more protective covers allow one or more rotating components of the one or more propulsion units to rotate in the first direction or the second direction.

13. The method according to claim 1, characterized in that, The signal is provided by one or more electronic speed control units (ESCs) to one or more corresponding propulsion units, the ESCs being configured to individually control the speed of one or more corresponding rotating components of the one or more propulsion units.

14. The method according to claim 13, characterized in that, The signals from the one or more electronic speed control units are configured to cause the UAV to change orientation between the first orientation and the second orientation.

15. The method according to claim 12, characterized in that, The one or more rotating components include rotor blades.

16. The method according to claim 1, characterized in that, The drone is capable of taking off from the landing surface in the first orientation and the second orientation.

17. The method according to claim 1, characterized in that, The drone is capable of hovering or flying in both the first and second orientations.

18. The method according to claim 1, characterized in that, The one or more protective covers serve as the landing gear for the drone.

19. An unmanned aerial vehicle (UAV), comprising: One or more propulsion units configured to generate lift for a drone, the one or more propulsion units including a first set of rotating components and a second set of rotating components, wherein when the drone is in a first orientation, the first set of rotating components is configured to rotate along a first direction and the second set of rotating components is configured to rotate along a second direction, and when the drone is in a second orientation opposite to the first orientation, the first set of rotating components is configured to rotate along the second direction and the second set of rotating components is configured to rotate along the first direction; One or more processors, wherein the processors are configured to individually or jointly control the orientation of the first set of rotating components and the second set of rotating components of the one or more propulsion units, and to provide a signal for achieving a flip between a first orientation and a second orientation when a flip is required based on the relationship between the current orientation of the UAV and the landing surface; when the UAV uncontrollably falls onto the landing surface and accidentally flips to the first orientation, in response to user input received by a remote terminal wirelessly communicating with the UAV, control the UAV to first change its orientation from the first orientation to the second orientation on the landing surface, and then control the UAV to take off from the landing surface in the second orientation by means of the one or more propulsion units, wherein the first orientation corresponds to the orientation of the top of the UAV toward the landing surface, and the second orientation corresponds to the orientation of the bottom of the UAV toward the landing surface; and One or more protective shields prevent one or more propulsion units from directly contacting external objects.

20. The UAV according to claim 19, characterized in that, When the UAV is in the first orientation or the second orientation, lift is generated when the UAV takes off from the landing surface.

21. The UAV according to claim 19, characterized in that, The height of one or more protective covers is greater than the height of the drone body.

22. The UAV according to claim 19, characterized in that, The height of the one or more protective covers is greater than the height of the one or more propulsion units.

23. The UAV according to claim 19, characterized in that, When the drone is in the first orientation, a first portion of the one or more protective shields contacts the landing surface, and when the drone is in the second orientation, a second portion of the one or more protective shields contacts the landing surface.

24. The UAV according to claim 23, characterized in that, The first and second portions of the one or more protective shields are laterally opposite each other relative to the horizontal plane passing through the body of the drone.

25. The UAV according to claim 24, characterized in that, When the drone is in the first orientation, the second part is located above the main body in the direction of lift generated by the one or more propulsion units.

26. The UAV according to claim 24, characterized in that, When the UAV is in the second orientation, the first part is located above the main body in the direction of lift generated by the one or more propulsion units.

27. The UAV according to claim 19, characterized in that, Each of the one or more protective shields forms a channel surrounding the corresponding propulsion unit in the one or more propulsion units.

28. The UAV according to claim 19, characterized in that, Each protective cover includes a sleeve in which the propulsion unit is housed.

29. The UAV according to claim 19, characterized in that, When the UAV is on the landing surface, the one or more protective covers allow one or more rotating components of the one or more propulsion units to rotate in the first direction or the second direction.

30. The UAV according to claim 19, characterized in that, The one or more processors are located in one or more electronic speed control units or flight controllers.

31. The UAV according to claim 19, characterized in that, Signals from the one or more processors are configured to cause the drone to change orientation between the first orientation and the second orientation.

32. The UAV according to claim 29, characterized in that, The one or more rotating components include rotor blades.

33. The UAV according to claim 19, characterized in that, The drone is capable of taking off from the landing surface in the first orientation and the second orientation.

34. The UAV according to claim 19, characterized in that, The drone is capable of hovering or flying in both the first and second orientations.

35. The UAV according to claim 19, characterized in that, The one or more protective covers serve as the landing gear for the drone.

36. A method of operating a drone, the method comprising: One or more processors are used to generate a signal that causes the drone to flip from a first orientation to a second orientation opposite to the first orientation. as well as In response to the signal, the UAV is flipped from a first orientation to a second orientation by means of one or more propulsion units; When it is determined that a flip is needed based on the relationship between the current orientation of the UAV and the landing surface, one or more processors generate a signal for flipping between the first orientation and the second orientation. When the UAV falls uncontrollably onto the landing surface and accidentally flips to the first orientation, in response to user input received by a remote terminal that is wirelessly communicating with the UAV, the UAV is controlled to first change its orientation from the first orientation to the second orientation on the landing surface, and then the one or more propulsion units are used to control the UAV to take off from the landing surface in the second orientation. The first orientation corresponds to the orientation of the top of the UAV towards the landing surface, and the second orientation corresponds to the orientation of the bottom of the UAV towards the landing surface.

37. The method according to claim 36, characterized in that, When the drone is on the landing surface, the drone flips from the first orientation to the second orientation, which is opposite to the first orientation.

38. The method of claim 37, further comprising acquiring data indicating user input to initiate a flip of the drone from the first orientation to the second orientation.

39. The method according to claim 38, characterized in that, User input is received at the remote terminal of the drone.

40. The method according to claim 39, characterized in that, The terminal sends user input to the drone via a wireless connection.

41. The method of claim 37, further comprising acquiring data from one or more sensors to initiate a flip of the drone from the first orientation to the second orientation.

42. The method according to claim 41, characterized in that, The one or more sensors are on the drone.

43. The method according to claim 41, characterized in that, The one or more sensors detect the orientation of the drone.

44. The method according to claim 37, characterized in that, The drone includes one or more protectors to prevent the one or more propulsion units from directly contacting the landing surface.

45. The method according to claim 37, characterized in that, After flipping to the second orientation, the drone remains on the landing surface for at least a period of time.

46. ​​The method of claim 37, further comprising, after the UAV flips from the first orientation to the second orientation, taking off from the landing surface by means of the one or more propulsion units.

47. The method of claim 46, further comprising enabling the drone to fly in the second orientation.

48. The method according to claim 36, characterized in that, When one or more sensors detect that the drone has reached a threshold condition, the drone flips from the first orientation to the second orientation, which is opposite to the first orientation.

49. The method according to claim 48, characterized in that, The one or more sensors are on the drone.

50. The method according to claim 48, characterized in that, The one or more sensors are configured to detect during flight whether the drone has reached a threshold condition.

51. The method according to claim 48, characterized in that, The threshold condition is reached during the flight of the drone.

52. The method according to claim 48, characterized in that, The threshold condition is the height of the drone relative to the landing surface.

53. The method according to claim 48, characterized in that, The threshold condition is the speed or acceleration of the UAV relative to the landing surface.

54. The method according to claim 53, characterized in that, Velocity or acceleration is the vertical velocity or acceleration of the UAV relative to the landing surface.

55. The method according to claim 48, characterized in that, The threshold condition is the power supplied to the one or more propulsion units or the power consumed by the one or more propulsion units.

56. The method according to claim 48, characterized in that, The threshold condition is the amount of time elapsed since the UAV took off from the landing surface.

57. The method according to claim 48, characterized in that, The one or more propulsion units allow the UAV to take off from the landing surface, regardless of the orientation of the landing surface relative to the direction of gravity.

58. The method according to claim 48, characterized in that, The drone includes one or more protectors to prevent the one or more propulsion units from directly contacting the landing surface.

59. The method according to claim 36, characterized in that, The signal instructs the user to input input to initiate the drone's flip.

60. The method according to claim 59, characterized in that, User input is provided via the drone's remote user terminal.

61. The method according to claim 60, characterized in that, The signal is generated at the user terminal and transmitted from the user terminal to the drone via one or more communication channels.

62. The method according to claim 59, characterized in that, User input used to initiate a flip can only initiate a flip, not other actions of the drone.

63. The method according to claim 59, characterized in that, The flipping of the drone from the first orientation to the second orientation results in a change of at least 170 degrees in the drone's orientation.

64. The method according to claim 59, characterized in that, The user input is a single action that causes the drone to flip from the first orientation to the second orientation.

65. The method according to claim 64, characterized in that, A single action is to select the button or touchscreen of the drone's remote terminal.

66. The method according to claim 64, characterized in that, The single action is the flipping of a switch on the remote terminal of the drone.

67. The method according to claim 64, characterized in that, A single action is a verbal command registered by the drone's remote terminal.

68. The method according to claim 64, characterized in that, A single action is the attitude change of the remote terminal of the UAV.

69. The method according to claim 59, characterized in that, The signal indicating user input is acquired when the drone is on the landing surface.

70. The method according to claim 59, characterized in that, The signal indicating user input is acquired during the drone's flight.

71. The method according to claim 59, characterized in that, The drone includes one or more protectors to prevent the one or more propulsion units from directly contacting the landing surface.

72. An unmanned aerial vehicle (UAV), comprising: One or more processors, individually or collectively configured to generate a signal that causes the drone to flip from a first orientation to a second orientation opposite to the first orientation; as well as One or more propulsion units that, in response to the signal, enable the UAV to flip from a first orientation to a second orientation; When it is determined that a flip is needed based on the relationship between the UAV's current orientation and the landing surface, one or more processors are individually or collectively configured to generate a signal for flipping between the first orientation and the second orientation. When the UAV falls uncontrollably onto the landing surface and accidentally flips to the first orientation, in response to user input received by a remote terminal that is wirelessly communicating with the UAV, the UAV is controlled to first change its orientation from the first orientation to the second orientation on the landing surface, and then the UAV is controlled to take off from the landing surface in the second orientation by means of the one or more propulsion units. The first orientation corresponds to the orientation of the top of the UAV toward the landing surface, and the second orientation corresponds to the orientation of the bottom of the UAV toward the landing surface.

73. The UAV according to claim 72, characterized in that, The flipping of the drone from the first orientation to the second orientation, which is opposite to the first orientation, is performed while the drone is on the landing surface.

74. The UAV according to claim 73, characterized in that, The one or more processors are configured to acquire data indicating user input to initiate a flip of the drone from a first orientation to a second orientation.

75. The UAV according to claim 74, characterized in that, User input is received at the remote terminal of the drone.

76. The UAV according to claim 75, characterized in that, The terminal sends user input to the drone via a wireless connection.

77. The UAV according to claim 73, characterized in that, The one or more processors are configured to acquire data from one or more sensors to initiate a flip of the drone from the first orientation to the second orientation.

78. The UAV according to claim 77, characterized in that, The one or more sensors are on the drone.

79. The UAV according to claim 77, characterized in that, The one or more sensors detect the orientation of the drone.

80. The UAV according to claim 73, characterized in that, The drone includes one or more protectors to prevent the one or more propulsion units from directly contacting the landing surface.

81. The UAV according to claim 73, characterized in that, After flipping to the second orientation, the drone remains on the landing surface for at least a period of time.

82. The UAV according to claim 73, characterized in that, The one or more propulsion units are configured to enable the UAV to take off from the landing surface after the UAV flips from the first orientation to the second orientation.

83. The UAV according to claim 82, characterized in that, The one or more propulsion units are configured to enable the UAV to fly in the second orientation.

84. The UAV according to claim 72, characterized in that, The drone flips from a first orientation to a second orientation opposite to the first orientation when one or more sensors detect that the drone has reached a threshold condition.

85. The UAV according to claim 84, characterized in that, The one or more sensors are on the drone.

86. The UAV according to claim 84, characterized in that, The one or more sensors are configured to detect whether the drone has reached a threshold condition during flight.

87. The UAV according to claim 84, characterized in that, The threshold condition is reached during the drone's flight.

88. The UAV according to claim 84, characterized in that, The threshold condition is the height of the drone relative to the landing surface.

89. The UAV according to claim 84, characterized in that, The threshold condition is the speed or acceleration of the drone relative to the landing surface.

90. The UAV according to claim 89, characterized in that, The velocity or acceleration is the vertical velocity or acceleration of the UAV relative to the landing surface.

91. The UAV according to claim 84, characterized in that, The threshold condition is the power supplied to the one or more propulsion units or the power consumed by the one or more propulsion units.

92. The UAV according to claim 84, characterized in that, The threshold condition is the amount of time elapsed since the drone took off from the landing surface.

93. The UAV according to claim 84, characterized in that, The one or more propulsion units allow the UAV to take off from the landing surface, regardless of the orientation of the landing surface relative to the direction of gravity.

94. The UAV according to claim 84, characterized in that, The drone includes one or more protectors to prevent the one or more propulsion units from directly contacting the landing surface.

95. The UAV according to claim 72, characterized in that, The signal instructs the user to input input to initiate the drone's flip.

96. The UAV according to claim 95, characterized in that, User input is provided via the drone's remote user terminal.

97. The UAV according to claim 96, characterized in that, The signal is generated at the user terminal and transmitted from the user terminal to the drone via one or more communication channels.

98. The UAV according to claim 95, characterized in that, User input used to initiate a flip can only initiate a flip, not other actions of the drone.

99. The UAV according to claim 95, characterized in that, The flipping of the drone from the first orientation to the second orientation results in a change of at least 170 degrees in the drone's orientation.

100. The UAV according to claim 95, characterized in that, The user input is a single action that causes the drone to flip from the first orientation to the second orientation.

101. The UAV according to claim 100, characterized in that, A single action is to select the button or touchscreen of the drone's remote terminal.

102. The UAV according to claim 100, characterized in that, The single action is the flipping of a switch on the remote terminal of the drone.

103. The UAV according to claim 100, characterized in that, A single action is a verbal command registered by the drone's remote terminal.

104. The UAV according to claim 100, characterized in that, A single action is the attitude change of the remote terminal of the UAV.

105. The UAV according to claim 95, characterized in that, The signal indicating user input is acquired when the drone is on the landing surface.

106. The UAV according to claim 95, characterized in that, The signal indicating user input is acquired during the drone's flight.

107. The UAV according to claim 95, characterized in that, The drone includes one or more protectors to prevent one or more propulsion units from directly contacting the landing surface.

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