Unmanned aerial vehicle energy supply station

Abstract

The present invention provides a system and method for swapping batteries on an unmanned aerial vehicle (UAV) while providing continuous power to at least one system on the UAV. The UAV can autonomously identify and land at an energy supply station. The UAV can take off from and / or land at the energy supply station. The UAV can communicate with the energy supply station. The energy supply station can store and charge batteries for use by the UAV. The UAV and / or the energy supply station can have a backup energy source to provide continuous power to the UAV.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicles (UAVs), and in particular to a device for providing power supply for UAVs. Background Art

[0002] Aircraft, such as unmanned aerial vehicles (UAVs), can be used to perform surveillance, reconnaissance, and exploration missions for both military and civilian applications. These aircraft can carry payloads designed to perform specific functions.

[0003] Conventional UAV designs often suffer from several drawbacks. For example, certain electrical components of a UAV, such as a controller or inertial measurement unit, may lose data when the components lose power. UAVs may be powered by onboard rechargeable batteries. In some cases, the batteries can be removed from the UAV for recharging or replacement. When the batteries are removed, the electrical components lose power, which can result in data loss in the electrical components. Summary of the Invention

[0004] There is a need to continuously provide power to certain electrical components of an unmanned aerial vehicle (UAV) to prevent data loss. There is also a need to provide power while the UAV's battery is removed for recharging or replacement. The battery can optionally be removed to recharge the UAV, thereby optionally providing the UAV with an extended range. This extended range is particularly useful when the UAV is used to deliver items, spray an environment, or patrol or scan an area. Automated or semi-automated battery charging stations can conveniently allow the battery life of the UAV to be replenished. The battery life of the UAV can be replenished by recharging the UAV's onboard battery or replacing it with another battery. While the UAV's onboard battery is being recharged, the system may be without power. A power outage can result in the loss of data collected by the UAV's onboard sensors. This data may include data stored in the UAV's controller or inertial measurement unit, which may be useful for the UAV's navigation or other functions. A system that can provide continuous power to the UAV during battery recharging may be advantageous.

[0005] One aspect of the present invention may include an unmanned aerial vehicle, comprising: a power unit for moving the unmanned aerial vehicle; and a power unit, the power unit comprising: a first battery for powering (1) the power unit and (2) a power consumption unit of the unmanned aerial vehicle, wherein the power unit is switchable between (a) a first mode and (b) a second mode, in which the first battery provides power to (1) the power unit and (2) the power consumption unit, and in the second mode, the second battery provides power to the power consumption unit but not to the power unit.

[0006] In some embodiments, the UAV may have a power unit including one or more rotors configured to generate lift for the UAV. The UAV may have a power consumption unit, wherein the power consumption unit is one or more of the following: a Global Positioning System (GPS) sensor, a motion sensor, an inertial measurement unit sensor, a distance sensor, and / or an image sensor. The power unit may switch to the second mode when the UAV is resting on a surface. The power unit may be configured to switch from the first mode to the second mode before or while the first battery is removed from the UAV, while simultaneously providing continuous power to the power consumption unit. The power unit may be configured to switch from the second mode to the first mode when the first battery is connected to the UAV and is ready to provide power. The power unit may switch to the second mode when the UAV is not using the power unit. The power unit may be configured to switch between the first and second modes when the voltage of the first battery drops below the voltage of the second battery. The power unit may include a one-way diode that blocks current from the second battery to the power consumption unit. The unidirectional diode may have a positive terminal facing the second battery and a negative terminal facing the power consumption unit.The power unit may include an electrical switch that is in a closed position during the first mode and the second mode and in an open position when the UAV is powered off.

[0007] In some cases, the UAV may have a charging control unit interposed between the first battery and the second battery, wherein the charging control unit is configured to control charging of the second battery by the first battery.

[0008] In some cases, the first battery may not provide power during the second mode. The first battery may be disconnected from the UAV during the second mode. The first battery may be electrically connected to a second battery during the first mode. The voltage power provided by the first battery is lower than the voltage power provided by the first battery.

[0009] Aspects of the present invention may also include a method for providing energy to an unmanned aerial vehicle, the method comprising: using a first battery to power (1) a power unit and (2) a power consumption unit of the unmanned aerial vehicle; using a second battery to power the power consumption unit of the unmanned aerial vehicle, but not using the second battery to power the power unit; and no longer using the first battery to power (1) the power unit and (2) the power consumption unit of the unmanned aerial vehicle.

[0010] In some cases, the power unit includes one or more rotors configured to generate lift for the UAV. The UAV can rest on a surface, in which case the first battery is no longer used to power (1) the power unit and (2) the power consumption unit of the UAV. The UAV can be in flight, in which case the first battery is used to power (1) the power unit and (2) the power consumption unit of the UAV.

[0011] The energy supply station may include a battery replacement for disconnecting the first battery from the UAV.

[0012] In some cases, the method may further include: charging the second battery while the first battery is used to power (1) the power unit and (2) the power consumption unit of the UAV. The method may further include: charging the second battery with the first battery while the UAV is in flight. The power unit may include a one-way diode that blocks current from flowing from the second battery to the power consumption unit. The one-way diode may have a positive terminal facing the second battery and a negative terminal facing the power consumption unit. The second battery may be configured to provide a voltage lower than a voltage provided by the first battery.

[0013] According to another aspect of the present invention, a method for providing energy to an unmanned aerial vehicle may be provided. The method may include: using a first battery to power (1) a power unit and (2) a power consumption unit of the unmanned aerial vehicle; using the first battery to charge a second battery; using the second battery to power the power consumption unit of the unmanned aerial vehicle; and no longer using the first battery to power (1) the power unit and (2) the power consumption unit of the unmanned aerial vehicle. When the unmanned aerial vehicle is in flight, the second battery may provide charge to the first battery.

[0014] The power unit may include one or more rotors configured to generate lift for the UAV.

[0015] The UAV can rest on a surface without using the first battery to power (1) the power unit and (2) the power consumption unit of the UAV. The surface can be a landing area for an energy supply station for recharging the first battery and / or replacing the first battery with another battery.

[0016] In some cases, the energy supply station may include a battery replacement for disconnecting the first battery from the UAV.

[0017] The method may further include charging the second battery while simultaneously powering (1) the power unit and (2) the controller and / or the inertial measurement unit of the UAV with the first battery.

[0018] The power unit may include a one-way diode for preventing current from flowing from the second battery to the power consumption unit. The one-way diode includes a positive terminal facing the second battery and a negative terminal facing the power consumption unit.

[0019] In another embodiment, the present invention may include a method of providing a continuous power supply to an unmanned aerial vehicle. The method may include: providing an unmanned aerial vehicle, the unmanned aerial vehicle being connected to a battery that provides power to the unmanned aerial vehicle; disconnecting the battery from the unmanned aerial vehicle so that the battery no longer provides power to the unmanned aerial vehicle; and, before or simultaneously with the disconnection in item (b), providing power to the unmanned aerial vehicle using a power unit, such that the unmanned aerial vehicle retains power before, during, and after the battery is disconnected from the unmanned aerial vehicle.

[0020] The method may further include providing support for the unmanned aerial vehicle by an unmanned aerial vehicle landing area of ​​an energy supply station. The method may further include disconnecting the battery from the unmanned aerial vehicle using a battery replacement. The method may further include connecting another battery to the unmanned aerial vehicle, wherein the another battery is used to provide power to the unmanned aerial vehicle after being connected to the unmanned aerial vehicle. The another battery may be connected to the unmanned aerial vehicle using a battery replacement, and the battery replacement disconnects the battery from the unmanned aerial vehicle. The method may further include, after charging the battery when disconnected from the unmanned aerial vehicle, connecting the battery to the unmanned aerial vehicle using the battery replacement. The charge level of the another battery when connected to the unmanned aerial vehicle is higher than the charge level of the battery when the battery is disconnected from the unmanned aerial vehicle.

[0021] The battery replacement component may be part of the energy supply station. In some cases, the battery replacement component may be a robotic arm.

[0022] The UAV may be a rotorcraft capable of vertically taking off from the energy supply station or vertically landing on the energy supply station.

[0023] The UAV landing area may include a visible marker for assisting the UAV in landing. The visible marker may be a light emitting diode (LED) light or an image.

[0024] In some cases, the energy supply station may be portable.

[0025] The method may further include removing the additional battery from a removable battery storage unit, the removable battery storage unit comprising a plurality of holding stations for collectively storing a plurality of batteries capable of powering the UAV upon connection to the UAV, wherein the removable battery storage portion is configured to permit simultaneous movement of the plurality of holding stations relative to the UAV landing area. The method may further include providing power to the UAV using the power unit during periods when no battery is connected to the UAV. The method may further include connecting the power unit to the UAV before disconnecting the battery from the UAV.

[0026] The power unit may be an electrical wire from an electrical energy source. The electrical energy source may be a renewable energy source. The electrical energy source may be a power grid. The power unit may be another battery. The other battery may be mounted on an energy supply station supporting the UAV. The other battery may be mounted on the UAV.

[0027] In some embodiments, the UAV may have a maximum dimension of no more than 100 cm. The UAV may include a recessed area into which the battery is moved to disconnect from the UAV. The UAV may include a recessed area into which the battery is inserted to couple to the UAV and provide power to the UAV. The battery or the additional battery may be configured to be inserted into the recessed area to connect to the UAV and provide power to the UAV after the battery is disconnected from the UAV.

[0028] The batteries may be in a removable battery storage unit comprising a plurality of holding stations for collectively storing a plurality of batteries capable of powering the unmanned aerial vehicle upon connection to the unmanned aerial vehicle, wherein the removable battery storage portion is used to allow the plurality of holding stations to be moved simultaneously relative to the unmanned aerial vehicle landing area.

[0029] In another embodiment, the present invention may include an unmanned aerial vehicle energy supply station, which may include: an unmanned aerial vehicle landing area for supporting the unmanned aerial vehicle when the unmanned aerial vehicle rests on the station, the unmanned aerial vehicle being connected to a battery that provides power to the unmanned aerial vehicle; a battery replacement part for disconnecting the battery from the unmanned aerial vehicle so that the battery no longer provides power to the unmanned aerial vehicle; and a power unit for providing power to the unmanned aerial vehicle before or at the same time as the disconnection, so that the unmanned aerial vehicle retains power before, during and after the battery is disconnected from the unmanned aerial vehicle.

[0030] The UAV energy supply station may further include a support to position the UAV on the UAV landing area of ​​the energy supply station. The energy supply station may further include a battery replacement component. The battery replacement component may be part of the energy supply station. The battery replacement component may be a robotic arm.

[0031] The UAV may be a rotorcraft capable of vertically taking off from the energy supply station or vertically landing on the energy supply station.

[0032] The UAV landing area may include visible markings for assisting the UAV in landing. The visible markings may be LED lights or images.

[0033] In some cases, the energy supply station may be portable.

[0034] The UAV energy supply station may further include another battery to the UAV, wherein the another battery is used to provide power to the UAV upon connection to the UAV. The another battery may be connected to the UAV using a battery replacement, which disconnects the battery from the UAV. The charge level of the another battery when connected to the UAV may be higher than the charge level of the battery when disconnected from the UAV. The UAV energy supply station may further include a removable battery storage unit, the removable battery storage unit including a plurality of holding stations for collectively storing a plurality of batteries capable of powering the UAV upon connection to the UAV, wherein the removable battery storage portion is used to allow the plurality of holding stations to be moved simultaneously relative to the UAV landing area.

[0035] In some cases, the energy supply station may further include a power unit for providing power to the UAV during periods when no battery is connected to the UAV. The power unit may be an electrical wire from an electrical energy source. The electrical energy source may be a renewable energy source. The electrical energy source may be the power grid. The power unit may be another battery. The other battery may be mounted on the energy supply station supporting the UAV. The other battery may be mounted on the UAV.

[0036] In some cases, the UAV may have a maximum dimension of no more than 100 cm. The UAV may include a recessed area into which the battery is moved to disconnect from the UAV. The UAV may include a recessed area into which the battery is inserted to connect to the UAV and provide power to the UAV. The battery or the additional battery may be configured to be inserted into the recessed area to connect to the UAV and provide power to the UAV after the battery is disconnected from the UAV.

[0037] The batteries may be in a removable storage unit comprising a plurality of holding stations for collectively storing a plurality of batteries capable of powering the unmanned aerial vehicle upon connection to the unmanned aerial vehicle, wherein the removable battery storage portion is configured to allow the plurality of holding stations to be moved simultaneously relative to the unmanned aerial vehicle landing area.

[0038] In another embodiment, the present invention may include an unmanned aerial vehicle energy supply station, which may include: an unmanned aerial vehicle landing area for supporting the unmanned aerial vehicle while the unmanned aerial vehicle is resting on the energy supply station, the unmanned aerial vehicle being connected to (1) a battery that provides power to the unmanned aerial vehicle and (2) a backup power source that provides power to the unmanned aerial vehicle when the battery is not connected to the unmanned aerial vehicle; and a battery replacement part for disconnecting the battery from the unmanned aerial vehicle so that the battery no longer provides power to the unmanned aerial vehicle, and the backup power source is used to provide power to the unmanned aerial vehicle before or at the same time as the disconnection, so that the unmanned aerial vehicle retains power before, during and after the battery is disconnected from the unmanned aerial vehicle.

[0039] The backup power source may be another battery mounted on the UAV. The backup power source may be a renewable energy generating power source mounted on the UAV.

[0040] The UAV energy supply station may further include a support to position the UAV on the UAV landing area of ​​the energy supply station. The energy supply station may further include a battery replacement component. The battery replacement component may be part of the energy supply station. The battery replacement component may be a robotic arm.

[0041] The UAV may be a rotorcraft capable of vertically taking off from the energy supply station or vertically landing on the energy supply station.

[0042] The UAV landing area may include visible markings for assisting the UAV in landing. The visible markings may be LED lights or images.

[0043] In some cases, the energy supply station may be portable.

[0044] The UAV energy supply station may further include another battery connected to the UAV, wherein the another battery is used to provide power to the UAV upon connection to the UAV. The another battery may be connected to the UAV using a battery replacement component that disconnects the battery from the UAV. The charge level of the another battery when connected to the UAV may be higher than the charge level of the battery when the battery is disconnected from the UAV. The UAV energy supply station may further include a removable battery storage unit, the removable battery storage unit including a plurality of holding stations for collectively storing a plurality of batteries capable of powering the UAV upon connection to the UAV, wherein the removable battery storage portion is used to allow the plurality of holding stations to be moved simultaneously relative to the UAV landing area.

[0045] In some cases, the energy supply station may further include a power unit for providing power to the UAV during periods when no battery is connected to the UAV. The power unit may be an electrical wire from an electrical energy source. The electrical energy source may be a renewable energy source. The electrical energy source may be a power grid. The power unit may be another battery. The other battery may be mounted on the energy supply station supporting the UAV. The other battery may be mounted on the UAV.

[0046] In some cases, the UAV may have a maximum dimension of no more than 100 cm. The UAV may include a recessed area into which the battery is moved to disconnect from the UAV. The UAV may include a recessed area into which the battery is inserted to connect to the UAV and provide power to the UAV. The battery or the additional battery may be configured to be inserted into the recessed area to connect to the UAV and provide power to the UAV after the battery is disconnected from the UAV.

[0047] The batteries may be in a removable battery storage unit comprising a plurality of holding stations for collectively storing a plurality of batteries capable of powering the unmanned aerial vehicle upon connection to the unmanned aerial vehicle, wherein the removable battery storage portion is used to allow the plurality of holding stations to be moved simultaneously relative to the unmanned aerial vehicle landing area.

[0048] In another aspect, the present invention may include a method of providing energy to an unmanned aerial vehicle. The method may include providing an unmanned aerial vehicle connected to a battery for powering the unmanned aerial vehicle; evaluating, with a processor, the reliability of: (1) a first backup energy source for the unmanned aerial vehicle for powering the unmanned aerial vehicle when the battery is disconnected from the unmanned aerial vehicle, and (2) a second backup energy source for the unmanned aerial vehicle when the battery is disconnected from the unmanned aerial vehicle; and selecting, with the processor, the first backup energy source or the second backup energy source based on the evaluated reliability.

[0049] The method may further include supporting the unmanned aerial vehicle from an unmanned aerial vehicle landing area of ​​an energy supply station. The method may further include disconnecting the battery from the unmanned aerial vehicle using a battery replacement of the energy supply station. The first backup energy source may be another battery loaded on the unmanned aerial vehicle. For the first backup energy source, a lower state of charge may correspond to a lower assessed reliability. The second backup energy source may be a power unit loaded on an energy supply station, which supports the unmanned aerial vehicle when the unmanned aerial vehicle is not in flight. Reliability may be assessed based on the consistency of the power provided by the power unit over time. For the second backup energy source, greater inconsistency corresponds to a lower assessed reliability. The first backup energy source may be selected when the assessed reliability of the first backup energy source is higher than the assessed reliability of the second backup energy source, and the second backup energy source may be selected when the assessed reliability of the second backup energy source is higher than the assessed reliability of the first backup energy source. When the first backup energy source is the default source, the first backup energy source is selected when the assessed reliability of the first backup energy source does not fall below a predetermined threshold, and when the second backup energy source is the default source, the second backup energy source is selected when the assessed reliability of the second backup energy source does not fall below a predetermined threshold.

[0050] The method may also include: using a battery replacement to disconnect the second battery from the unmanned aerial vehicle, wherein the battery is used to not power the unmanned aerial vehicle when disconnected from the unmanned aerial vehicle; when no battery is connected to the unmanned aerial vehicle, using the selected first backup energy source or second backup energy source to provide power to the unmanned aerial vehicle.

[0051] Other objects and features of the present invention will become readily apparent from a review of the specification, claims, and appended drawings.

[0052] Reference Merge

[0053] Any publications, patents, and patent applications mentioned in this specification are incorporated herein by reference to the same extent as if each individual publication, patent, or patent application was specifically and individually indicated to be incorporated herein by reference. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The novel features of the present invention are particularly set forth in the appended claims. For a better understanding of the features and advantages of the present invention, reference is made to the following detailed description which illustrates exemplary embodiments, in which the principles of the invention are utilized, and in the accompanying drawings:

[0055] Figure 1 A battery charging system is shown, including an unmanned aerial vehicle (for use with the system) and an energy supply station.

[0056] Figure 2 A detailed example of an energy supply station is shown.

[0057] Figure 3 An unmanned aerial vehicle is shown having a recessed area for accommodating at least one battery.

[0058] Figure 4 A schematic diagram showing a first battery system and a second battery system.

[0059] Figure 5 A flow chart illustrating a procedure for charging or replacing batteries on an unmanned aerial vehicle while providing continuous power to the unmanned aerial vehicle.

[0060] Figure 6 The complete energy supply station is shown.

[0061] Figure 7 An example of landing guidance on the landing area of ​​an energy supply station is shown.

[0062] Figure 8 A detailed view showing the UAV coordinating with the landing guidance.

[0063] Figure 9 Shows the UAV self-correcting to land on the landing guidance.

[0064] Figure 10 An example of a battery storage carousel is shown.

[0065] Figure 11 An example of a battery storage container is shown.

[0066] Figure 12 Shown is an example of a battery storage conveyor located below a landing area.

[0067] Figure 13 Shown are components of a possible mechanism for replacing batteries on an unmanned aerial vehicle.

[0068] Figure 14 An embodiment of a robotic arm gripper for replacing batteries in an unmanned aerial vehicle is shown.

[0069] Figure 15 Shown is a detailed example of a mechanism for replacing a UAV battery.

[0070] Figure 16 An example of a complete energy supply station is shown.

[0071] Figure 17 A flow chart is provided for possible communications between a UAV and an energy supply station.

[0072] Figure 18An unmanned aerial vehicle according to an embodiment of the present invention is illustrated.

[0073] Figure 19 A movable object according to an embodiment of the present invention is shown, which includes a carrier and a carried object.

[0074] Figure 20 A system for controlling a movable object according to an embodiment of the invention is schematically illustrated with the aid of a block diagram. DETAILED DESCRIPTION

[0075] In one embodiment, the present invention provides systems, devices, and / or methods relating to mechanisms for providing continuous power to an unmanned aerial vehicle (UAV). The description of an UAV may apply to any other type of unmanned vehicle, or any other type of movable object. The description of a vehicle may apply to vehicles on land, underground, underwater, on the surface, in the air, or in space. Providing continuous power to the UAV may include interaction with an energy supply station. The interaction may include docking between the energy supply station and the UAV. Communication may be performed between the UAV and the energy supply station when the UAV is separated from the energy supply station and / or when the UAV is connected to the energy supply station. The UAV may be powered by a first rechargeable battery, which may be recharged while on board the UAV or removed from the UAV before recharging. In addition to the first rechargeable battery, the UAV may also have a second battery or secondary power source. The energy supply station may replace the UAV's onboard first or second battery with another battery. The energy supply station may store a plurality of batteries. The energy supply station is movable relative to the UAV. The energy supply station can provide power to the UAV when the first battery or the second battery is removed from the UAV, so that the UAV is continuously connected to a power source. The energy supply station can use an onboard battery of the energy supply station or a renewable energy source to provide power to the UAV.

[0076] Figure 1 An example of an unmanned aerial vehicle (UAV) is shown, wherein the UAV is associated with an energy supply station. The UAV can land on or take off from the energy supply station. According to an embodiment of the present invention, an energy supply system 100 can be provided. The energy supply system can include an unmanned aerial vehicle 101 and an energy supply station 102. The UAV can be adapted to identify and communicate with the energy supply station.

[0077] Any description of the unmanned aerial vehicle 101 herein may apply to any type of movable object. The description of the unmanned aerial vehicle may apply to any type of unmanned movable object (e.g., it may traverse the air, land, water, and space). The unmanned aerial vehicle may be able to respond to commands from a remote control. The remote control may not be connected to the unmanned aerial vehicle, but the remote control may communicate wirelessly with the unmanned aerial vehicle within a certain distance. In some cases, the unmanned aerial vehicle may be able to operate autonomously or semi-autonomously. The unmanned aerial vehicle may be able to follow a set of pre-programmed instructions. In some cases, the unmanned aerial vehicle may operate semi-autonomously by responding to one or more commands from the remote control, or vice versa, operate autonomously. For example, one or more commands from the remote control may initiate a series of autonomous or semi-autonomous actions of the unmanned aerial vehicle according to one or more parameters.

[0078] Unmanned aerial vehicle 101 may be an aircraft. The unmanned aerial vehicle may have one or more power units that allow the unmanned aerial vehicle to move in the air. The one or more power units may enable the unmanned aerial vehicle to move with one or more degrees of freedom, two or more degrees of freedom, three or more degrees of freedom, four or more degrees of freedom, five or more degrees of freedom, or six or more degrees of freedom. In some cases, the unmanned aerial vehicle may be capable of rotating about one, two, three, or more axes of rotation. The axes of rotation may be orthogonal to each other. The axes of rotation remain orthogonal to each other throughout the flight of the unmanned aerial vehicle. The axes of rotation may include a pitch axis, a roll axis, and / or a yaw axis. The unmanned aerial vehicle may be capable of moving in one or more dimensions. For example, the unmanned aerial vehicle may be capable of moving upward due to the lift generated by one or more rotors. In some embodiments, the unmanned aerial vehicle may be capable of moving along a Z axis (which may be oriented upward relative to the unmanned aerial vehicle), an X axis, and / or a Y axis (which may be lateral). The unmanned aerial vehicle may be capable of moving along one, two, or three orthogonal axes.

[0079] Unmanned aerial vehicle 101 may be a rotorcraft. In some cases, the unmanned aerial vehicle may be a multi-rotor aircraft, which may include multiple rotors. The multiple rotors may be capable of rotating to generate lift for the unmanned aerial vehicle. The rotors may be power units that enable the unmanned aerial vehicle to move freely in the air. The rotors may rotate at the same rate and / or generate the same amount of lift or thrust. The rotors may optionally rotate at different rates to generate different amounts of lift or thrust and / or allow the unmanned aerial vehicle to rotate. In some cases, one, two, three, four, five, six, seven, eight, nine, ten, or more rotors may be provided on the unmanned aerial vehicle. The rotors may be arranged so that their axes of rotation are parallel to each other. In some cases, the rotors may have multiple axes of rotation, with the axes of rotation being at arbitrary angles relative to each other, which may affect the movement of the unmanned aerial vehicle.

[0080] Figure 2 A detailed example of a possible embodiment of an energy supply system is shown, comprising an unmanned aerial vehicle 201 and an energy supply station 202 . Figure 2 The UAV 201 shown is an example of an UAV that may be part of an energy supply system. The UAV shown may have a plurality of rotors 203. The rotors 203 may be connected to a body 204 of the UAV, which may include a control unit, an inertial measurement unit (IMU), a processor, a battery, a power supply, and / or other sensors. The rotors may be connected to the body via one or more arms or extensions branching from a central portion of the body. For example, one or more arms may extend radially from a central portion of the UAV and may have rotors at or near the ends of the arms.

[0081] The UAV can be positioned on the surface of the energy supply station via a landing gear 205. The landing gear is configured to support the weight of the UAV when the UAV is not in flight. The landing gear may include one or more extensions extending from the UAV. The extensions on the landing gear may extend from one or more arms of the UAV, or from a central body of the UAV. The extensions of the landing gear may extend from below or adjacent to one or more rotors. The extensions may extend substantially vertically.

[0082] The energy supply station 202 may be a battery station. The energy supply station may be a ground station. The energy supply station may be a battery replacement station or a battery exchange station. The energy supply station may be a battery recharging station. The energy supply station may be portable. The energy supply station may be capable of being carried by a person. The energy supply station may be capable of being lifted by a person using one or both hands. The energy supply station itself may be reconfigurable or foldable to become portable.

[0083] Energy supply station 202 may have a UAV landing area 206. Any surface of the energy supply station may be adapted to comprise a landing area. For example, the top surface of the energy supply station may form a landing area. Optionally, one or more platforms may be provided to serve as landing areas for UAVs. The platforms may or may not include any sides, ceiling, or roof.

[0084] The energy supply station 202 may also include a battery storage system. The battery storage system may be used to store one or more batteries. The battery storage system may charge one or more stored batteries. Figure 2 In the example shown, a battery storage system 207 is shown below the landing area 206. Another component of the energy supply station is a mechanism for removing batteries from the UAV and replacing them with fully or partially charged batteries from the battery storage system.

[0085] The energy supply station 202 may have an onboard power source 208. The onboard power source may be a battery, a capacitor, a generator, a wind turbine, a hydro turbine, or a solar generator. The onboard power source may be used to provide power to the UAV when the battery is removed from the UAV, so that continuous power is provided to the UAV while the battery is replaced with a fully or partially charged battery in the battery storage unit. Optionally, an off-board power source may be used to provide power to the onboard power source or directly to the UAV. Examples of off-board power sources may include the utility grid, an off-site renewable energy source, or an off-site energy storage facility.

[0086] The vertical position and / or speed of an unmanned aerial vehicle can be controlled by maintaining and / or adjusting the output of one or more power units of the unmanned aerial vehicle. For example, increasing the rotational speed of one or more rotors of the unmanned aerial vehicle can help the unmanned aerial vehicle increase altitude or increase altitude at a faster rate. Increasing the rotational speed of the one or more rotors can increase the thrust of the rotors. Reducing the rotational speed of one or more rotors of the unmanned aerial vehicle can help the unmanned aerial vehicle decrease altitude or decrease altitude at a faster rate. Reducing the rotational speed of the one or more rotors can reduce the thrust of the one or more rotors. When the unmanned aerial vehicle (for example) takes off from an energy supply station, the output provided to the power unit can be increased from its previous landing state. When the unmanned aerial vehicle lands (for example) on an energy supply station, the output provided to the power unit can be reduced from its previous flight state. The unmanned aerial vehicle is configured to take off and / or land on an energy supply station in a substantially vertical manner.

[0087] The lateral position and / or speed of the UAV can be controlled by maintaining and / or adjusting the output of one or more power units of the UAV. The UAV's altitude and the rotational speed of one or more rotors of the UAV can affect the UAV's lateral movement. For example, the UAV can be tilted in a particular direction to move in that direction, and the speed of the UAV's rotors can affect the speed and / or trajectory of the lateral movement. The UAV's lateral position and / or speed can be controlled by changing or maintaining the rotational speed of one or more rotors of the UAV.

[0088] The UAV 101 may be small in size. The UAV may be capable of being lifted and / or carried by a person. The UAV may be carried by a person single-handedly. The energy supply station may have a landing area for providing space for the UAV to land. The size of the UAV may optionally not exceed the width of the energy supply station landing area. The size of the UAV may optionally not exceed the length of the energy supply station landing area.

[0089] The UAV 101 may have a maximum dimension (e.g., length, width, height, diagonal, diameter) that is no more than 100 cm. In some cases, the maximum dimension may be less than or equal to 1 mm, 5 mm, 1 cm, 3 cm, 5 cm, 10 cm, 12 cm, 15 cm, 20 cm, 25 cm, 30 cm, 35 cm, 40 cm, 45 cm, 50 cm, 55 cm, 60 cm, 65 cm, 70 cm, 75 cm, 80 cm, 85 cm, 90 cm, 95 cm, 100 cm, 110 cm, 120 cm, 130 cm, 140 cm, 150 cm, 160 cm, 170 cm, 180 cm, 190 cm, 200 cm, 220 cm, 250 cm, or 300 cm. Optionally, the maximum dimension of the UAV may be greater than or equal to any one of the values ​​described herein. The maximum dimension of the UAV may fall within a range between any two of the values ​​described herein.

[0090] The UAV 101 can be lightweight. For example, the UAV can weigh less than or equal to 1 mg, 5 mg, 10 mg, 50 mg, 100 mg, 500 mg, 1 g, 2 g, 3 g, 5 g, 7 g, 10 g, 12 g, 15 g, 20 g, 25 g, 30 g, 35 g, 40 g, 45 g, 50 g, 60 g, 70 g, 80 g, 90 g, 100 g, 120 g, 150 g, 200 g, 250 g, 300 g, 350 g, 400 g, 450 g, 500 g, 600 g, 700 g, The weight of the unmanned aerial vehicle can be greater than or equal to any of the values ​​described herein. The weight of the unmanned aerial vehicle can fall within a range between any two of the values ​​described herein.

[0091] One or more components of the UAV may be powered by batteries. For example, the entire UAV may be powered by batteries, or only the propulsion unit, controller, communication unit, inertial measurement unit (IMU), and / or other sensors may be powered by batteries. A battery may refer to a single battery or a battery pack consisting of two or more batteries. Examples of batteries include lithium-ion batteries, alkaline batteries, nickel-cadmium batteries, lead-acid batteries, or nickel-metal hydride batteries. Batteries may be disposable or rechargeable. The battery life (i.e., the amount of time it can provide power to the UAV before requiring recharging) can vary; the battery life may be at least 1 minute, 5 minutes, 10 minutes, 15 minutes, 30 minutes, 45 minutes, 1 hour, 2 hours, 3 hours, 4 hours, 5 hours, or 10 hours. The duration of the battery life may be greater than or equal to any of the values ​​described herein. The duration of the battery life may fall within a range between any two of the values ​​described herein.

[0092] The unmanned aerial vehicle may have a first battery and a second battery. The first battery may provide power to a power unit and a power consumption unit. The power consumption unit may be a non-powered unit. The power consumption unit may be one or more components capable of collecting and / or storing information. It may be necessary to provide continuous power to the power consumption unit for ongoing information processing, retrieval, or storage. The power consumption unit may be one or more of the following: a controller (i.e., a control unit), a communication unit, a navigation unit, a transmitter (e.g., a light or audio transmitter), and / or a sensor. Examples of sensors may include (but are not limited to) position sensors (e.g., a Global Positioning System (GPS) sensor, a mobile device transmitter with triangulation capabilities), visual sensors (e.g., an imaging device capable of detecting visible, infrared, or ultraviolet light, such as a camera), distance sensors (e.g., an ultrasonic sensor, a lidar, a time-of-flight camera), inertial sensors (e.g., an accelerometer, a gyroscope, an inertial measurement unit (IMU)), an altitude sensor, a pressure sensor (e.g., a barometer), an audio sensor (e.g., a microphone), or a field sensor (e.g., a magnetometer, an electromagnetic sensor). Any number and combination of sensors may be used, such as one, two, three, four, five, or more sensors. Optionally, data may be received from different types of sensors (e.g., two, three, four, five, or more types). Different types of sensors may measure different types of signals or information (e.g., position, orientation, velocity, acceleration, proximity, pressure, etc.) and / or utilize different types of measurement techniques to acquire data. For example, the sensors may include any suitable 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).

[0093] The second battery can be used to provide power only to the power consuming unit. Descriptions herein of a controller or an inertial measurement unit may apply to any type of power consuming unit, and vice versa. Any description herein of a controller and / or an inertial measurement unit or a battery that does not power the controller and / or inertial measurement unit or that provides power to the controller and / or inertial measurement unit may apply to power consuming units in general or to any specific type of power consuming unit. The unmanned aerial vehicle can operate in two modes such that in a first mode, the first battery provides power to the power unit and the power consuming unit. In a second mode, the first battery may not provide power to the power unit, and the second battery may provide power only to the power consuming unit. The second mode may require that the unmanned aerial vehicle has landed. The second mode may be implemented when the power unit is not in use. The first mode may be implemented when the first battery has sufficient charge to power the power unit and when the first battery is connected to the unmanned aerial vehicle.

[0094] The battery can be connected to the UAV via an electrical connection to provide power to the UAV. Any description herein of a battery may apply to one or more batteries. Any description of a battery may apply to a battery pack, and vice versa, where a battery pack may include one or more batteries. The batteries may be connected in series, in parallel, or in any combination of series and parallel. An electrical connection may be provided between the UAV and a battery or component of the UAV. The electrical contacts of the battery may contact electrical contacts of the UAV. The UAV may have a recessed area on its body to accommodate the first battery and / or the second battery. Figure 3 An example of an unmanned aerial vehicle (UAV) 301 is shown having a recessed area 302 for accommodating a first battery 303 and a recessed area 305 for holding a second battery 306 in the body of a UAV 304. The first battery 303 can be used to provide power to a power unit and a power-consuming unit (e.g., a controller and / or an inertial measurement unit). The second battery 306 can be used to power a power-consuming unit (e.g., a controller and / or an inertial measurement unit). Optionally, the second battery can be used to not provide power to the power unit. The second battery can provide power to the power-consuming unit.

[0095] The recessed areas may have equal or unequal lengths, widths, and depths. Possible values ​​for the length, width, and depth of the recessed areas may be at least 1 mm, 5 mm, 1 cm, 3 cm, 5 cm, 10 cm, 12 cm, 15 cm, 20 cm, 25 cm, 30 cm, 35 cm, 40 cm, 45 cm, 50 cm, 55 cm, 60 cm, 65 cm, 70 cm, 75 cm, 80 cm, 85 cm, 90 cm, 95 cm, or 100 cm. The recessed areas of the first and second batteries may have the same or different sizes. The recessed areas are used to hold one or more batteries. The first battery can be inserted into and removed from the recessed areas. The second battery can be inserted into and removed from the recessed areas. Optionally, the second battery can be mounted within the recessed areas and cannot be easily removed from the recessed areas. The first battery can be replaced at the energy supply station. The second battery can be maintained in the recessed areas when the unmanned aerial vehicle lands at the energy supply station.

[0096] The recessed area may contain electrical contacts to connect the battery to the UAV power system. Additionally, the recessed area may include electrical connections to communicate with a sensor that can dynamically read and record the remaining charge on the battery. The recessed area may include one or more electrical contacts that can electrically contact a battery onboard the UAV. The electrical contacts can connect to the battery while within the recessed area and can disconnect from the battery if the battery is removed.

[0097] The UAV may include an onboard battery system, which may be composed of a first battery and a second battery. The first battery is a primary power source, and the second battery is a backup power source. When the first battery is not connected to the UAV, for example, when the first battery is removed from the UAV for charging, the second battery (backup power source) may provide power to the UAV. The first battery may provide power to a power unit and a controller and / or an inertial measurement unit (IMU). The second battery is used to provide power to the controller and / or the IMU. The UAV can operate in two modes. In the first mode, the first battery provides power to the power unit and the controller and / or the IMU. In addition, in the first mode, the first battery may be electrically connected to the second battery so that the first battery can charge the second battery. The first battery may charge the second battery while the UAV is in flight or after the UAV has landed. In the second mode, the first battery may not provide power to the power unit, and the second battery may provide power to the controller and / or the IMU, but not to the power unit. The second mode may require the UAV to land. During the second mode of operation, the first battery does not provide power to any system on the UAV and the first battery can be removed from the UAV while the second battery provides continued power to the controller and / or the inertial measurement unit.

[0098] A battery system mounted on an unmanned aerial vehicle (UAV) is switchable between a first mode and a second mode. The system may switch from the first mode to the second mode before or upon removal of a first battery. The system may switch from the second mode to the first mode while the first battery is connected to the UAV and is ready to provide power to the UAV. Alternatively, the system may switch from the first mode to the second mode while the first battery is still in place, for example, when the UAV is landed and the power unit is shut down.

[0099] Figure 4A schematic diagram illustrates a preferred battery or power system aboard an unmanned aerial vehicle. The system includes a first battery 401 and a second battery 402, with any additional number of batteries provided. The first battery 401 may have a higher voltage than the second battery 402. The first battery 401 may directly provide power to the propulsion system 403. The first battery 401 may also provide power to a power consumption unit 404 via an electrical path including a first diode 408. The first diode may allow current to flow in only one direction, for example, from the first battery 401 to the power consumption unit 404. A voltage regulator module (VRM) 406 may be placed in the circuit between the first battery 401 and the power consumption unit 404. The second battery 402 may be electrically connected to the power consumption unit 404. The second battery 402 may include a second diode 409 placed on the electrical line between the second battery 402 and the power consumption unit 404. The electrical line leading from the first diode 408 and the electrical line leading from the second diode 409 may intersect at a point 410, and a separate electrical line may continue from the intersection 410 to the power consumption unit 404. The switch 405 may be placed between the second battery 402 and the second diode 409. During operating conditions, the switch 405 may remain closed.

[0100] First diode 408 and second diode 409 can operate as a control system, switching between first battery 401 and second battery 402. For example, the voltage of first battery 401 may be higher than the voltage of second battery 402. In this case, the voltage at first diode 408 and the voltage at the location in the circuit before power-consuming unit 404 may be higher than the voltage of the second battery. Current cannot flow to second battery 402 because second diode 409 prevents current from flowing from intersection 410 to second battery 402. As long as the voltage of first battery 401 remains higher than that of second battery 402, only first battery 401 can provide power to power-consuming unit 404. When the charge or voltage of the first battery is depleted, the voltage of first battery 401 may decrease, allowing second battery 402 to provide more voltage relative to the depleted first battery 401. In this case, second battery 402 can provide power to power-consuming unit 404. In some embodiments, the first diode may have a positive terminal on one side of the diode that is connected to the first battery. The first diode may have a negative terminal at its end, facing the power consumption unit. Optionally, the second diode may have a positive terminal at its end, connected to the second battery. The second diode may have a negative terminal on one side of the diode, facing the power consumption unit. The above structure can result in current flowing in only one direction through the diode.

[0101] Figure 4The circuit shown is used to automatically switch from a first mode, in which the first battery provides power to the propulsion system and the power consumption unit, to a second mode, in which the second battery only provides power to the power consumption unit, while the first battery does not provide power to the power consumption unit. In an example, the first battery may have a voltage higher than the second battery so that the first battery can supply a continuous voltage of 5.1 volts to the power consumption unit. The second battery may have a voltage of 5 volts. When the first battery is able to supply a voltage of 5.1 volts, the second battery is not allowed to supply power to the power consumption unit. If the power on the first battery is exhausted so that the first battery can no longer provide a voltage of 5.1 volts, for example when the first battery can only provide a voltage of 4.7 volts at a given power level, the second battery can provide relatively more power than the first battery in the exhausted state. In this case, the second battery can provide power to the power consumption unit. Recharging the first battery can reverse the described procedure, for example, if the first battery is recharged, the first battery may be able to provide a continuous voltage of 5.1 volts and the system can return to the following situation: the first battery provides power to the propulsion system and power-consuming units, and the second battery cannot provide power to components on the unmanned aerial vehicle until the first battery is depleted.

[0102] When the UAV is not in operation, first battery 401 and second battery 402 can be electrically disconnected from the UAV system components, so that the batteries do not provide power to the system components when the UAV is not in operation. Second battery 402 can be electrically disconnected from the system by opening switch 405. First battery 401 can be similarly disconnected from the system by another switch (not shown).

[0103] In another embodiment, Figure 4 The illustrated system can operate without a diode. For example, in this case, the first battery can provide power to the power unit 403 and the power consumption unit 404. In a first mode, the switch 405 can be open to electrically isolate the second battery 402 from the power consumption unit 404. In a first mode, the first battery 401 can provide power to both the power unit 403 and the power consumption unit 404. The voltage of the first battery can be higher than the voltage of the second battery, and a voltage regulator module 406 can be included in the system to gradually reduce the voltage on the first battery before the first battery powers the controller and / or the inertial measurement unit. In a second operating mode, the switch 405 can be closed to electrically connect the second battery to the power consumption unit.

[0104] The system may include a charging control unit 407 positioned between the first battery and the second battery. The charging control unit 407 may control the charging of the second battery by the first battery. The system may also include additional batteries in addition to the first and second batteries. The additional batteries serve as backup batteries. When both the first and second batteries are depleted, the additional backup batteries can be used. The additional backup batteries can be used to provide power to the first and second batteries and / or components on the UAV. The battery system described herein can provide continuous power to the UAV while the UAV is in operation.

[0105] In some cases, a communication link may be provided between the first battery 401 and the power-consuming unit 404. The power-consuming unit communicating with the first battery may optionally be a controller. The first battery may optionally be a smart battery. Circuit control may occur. In some embodiments, the controller may query the first battery regarding its charge status or the amount of charge remaining in the first battery. The first battery may respond to the controller and provide information that can be used to determine the charge status of the first battery or the amount of charge remaining in the first battery.

[0106] A method for replacing a battery of an unmanned aerial vehicle using an energy supply station may include the following steps: landing the unmanned aerial vehicle at the energy supply station; using a power unit to provide power to the unmanned aerial vehicle so that the unmanned aerial vehicle maintains power during the battery replacement; using components of the energy supply station to remove an onboard battery from the unmanned aerial vehicle; replacing the onboard battery with another battery provided at the energy supply station; connecting the other battery to the unmanned aerial vehicle; and taking off the unmanned aerial vehicle from the energy supply station. All or any of these steps may be fully or partially automated.

[0107] Figure 5 An example of a method for swapping batteries while continuously powering an unmanned aerial vehicle is shown in a flowchart. Figure 5 The steps described in the diagram may occur in the order shown, or the steps may occur out of order. The method for replacing batteries while continuously powering an unmanned aerial vehicle includes all or some of the steps listed. Initially, the unmanned aerial vehicle may land on a landing area on an energy supply station.

[0108] (501). After the UAV lands, the depleted battery can be removed by a mechanism on the energy supply station (503). Before or simultaneously with the removal of the depleted battery, power from a backup power system on the UAV or on the energy supply system (e.g., a second battery mounted on the UAV) can be supplied to the UAV (502). After the battery is removed, the depleted battery can be stored in a battery storage unit. The battery storage unit may include a container for holding the battery, and the container may include an electrical connection for providing power to the battery. An example of a battery storage area may be a conveyor mounted on the energy supply station. The conveyor may be used to rotatably transport depleted batteries and to place charged batteries with a mechanism for installing charged batteries into the UAV. In some examples, the mechanism may be a robotic arm. The robotic arm that transports the charged batteries to the UAV may be the same robotic arm that removes the depleted batteries from the UAV. After the conveyor rotates, the robotic arm may install the charged batteries into the UAV (504). Once the charged battery is fully installed and capable of providing power to the UAV, the backup battery can be disconnected from the UAV. The final step can be that the UAV with the fully charged onboard battery takes off from the landing area (506).

[0109] The UAV can communicate with an energy supply station. For example, the UAV can transmit information to the energy supply station regarding the status of the batteries onboard the UAV, current flight conditions, the time or distance remaining in the current mission, battery specifications, battery temperature, UAV specifications, or the flight plan. In the event of low battery, the UAV can be directed to land at an energy supply station. If the battery charge is too low to allow the UAV to complete the time or distance remaining in the current mission or flight plan, the UAV can be directed to land at an energy supply station. UAV operating parameters, such as the expected rate of energy consumption or the current rate of energy consumption, can be taken into account. For example, the UAV can fly in a relatively "low-power" mode, in which one or more sensors may be disabled, with the expectation that more sensors will be available later in the flight. The estimated rate of increase in energy consumption may affect the estimated rate of battery depletion, and these factors can be considered when determining whether the UAV needs to land at an energy supply station. Optionally, the UAV may be directed to land at an energy supply station when the battery charge drops below a predetermined threshold.

[0110] The UAV can identify the landing area of ​​the energy supply station by sensing an indicator, such as a raised pattern, a recessed pattern, an image, a symbol, a decal, a one-dimensional, two-dimensional, or three-dimensional barcode, a QR code, or a light visible on the landing area of ​​the energy supply station. The indicator can indicate that the energy supply station has charged batteries available. For example, the indicator can be a light or a pattern of lights that can only be turned on when the energy supply station has charged batteries available.

[0111] Unmanned aerial vehicles (UAVs) can take off and land vertically on the energy supply station landing area. The landing area can include recessed matching features to guide the UAV during landing. The matching features can reduce the need for precision when the UAV lands on the landing area. The recessed features can be used to match a wide variety of UAVs. Alternatively, the matching features can be specific to a single UAV manufacturer, a single UAV fleet, or a specific UAV.

[0112] Communication between the unmanned aerial vehicle and the energy supply station can be used to enable the unmanned aerial vehicle to obtain the approximate location of the energy supply station. Communication between the unmanned aerial vehicle and the energy supply station can be carried out wirelessly. The unmanned aerial vehicle can use a global positioning system or other positioning software to find the location of the energy supply station. The global positioning system or other positioning technology can be used to enable the unmanned aerial vehicle to arrive near the energy supply station. Wireless communication can enable the unmanned aerial vehicle to reach within the range of sensing one or more parts of the energy supply station. For example, the unmanned aerial vehicle can be brought into the line of sight of the energy supply station. Landing area markings (one or more) can further help to accurately locate the location of the energy supply station. The landing area markings can serve as confirmation of the energy supply station where the unmanned aerial vehicle can land. The markings can also distinguish between energy supply stations or landing areas of energy supply stations and other objects or areas.

[0113] The markings are useful in indicating the landing location of an unmanned aerial vehicle on an energy supply station. The markings can serve as reference markings to help the unmanned aerial vehicle navigate to a suitable landing location on the energy supply station. In some examples, multiple markings may be provided to help the unmanned aerial vehicle land at a desired location. In some cases, the unmanned aerial vehicle may also desire a specific orientation when docking with the energy supply station. In one example, the markings may include an asymmetric image or code that can be recognized by the unmanned aerial vehicle. The reference markings can indicate the orientation of the energy supply station relative to the unmanned aerial vehicle. Thus, the unmanned aerial vehicle can correctly determine its orientation when landing on the energy supply station. The markings can also indicate the distance of the energy supply station relative to the unmanned aerial vehicle. These markings can be used separately or in combination with one or more other sensors of the unmanned aerial vehicle to determine the altitude of the unmanned aerial vehicle. For example, if the size of the reference marking is known, the distance between the unmanned aerial vehicle and the marking can be measured based on the size of the marking displayed on the unmanned aerial vehicle's sensor.

[0114] In one example, the marking may be provided at a specific location relative to the desired landing point of the unmanned aerial vehicle on the energy supply station. The marking may be at a specific location relative to the desired landing point on the landing area of ​​the energy supply station. The unmanned aerial vehicle may be able to land in the landing area very precisely. The marking may help guide the unmanned aerial vehicle to the precise desired landing point. For example, the marking may be located 10 cm in front of the center of the desired landing point of the unmanned aerial vehicle. The unmanned aerial vehicle may use the marking to guide the unmanned aerial vehicle to the precise landing point. In some examples, multiple markings may be provided. The desired landing point may be placed between multiple markings. The unmanned aerial vehicle may use these markings to help determine and / or locate the landing point of the unmanned aerial vehicle between the multiple markings. The distance between the markings may help the unmanned aerial vehicle determine the distance the unmanned aerial vehicle has to reach the landing area.

[0115] The marking may be provided anywhere on the energy supply station or landing area. The marking may be placed in a position so that the marking is easily identifiable. In some cases, the marking may be provided on the external surface of the energy supply station. The marking may include a wireless signal transmitted by the energy supply station. The source of the signal may come from outside or inside the energy supply station. Alternatively, the energy supply station may transmit infrared and / or ultraviolet light signals, radio signals or audio signals.

[0116] The marker may be positioned near a location where the UAV can dock with the energy supply station. In one example, the marker may be positioned at a location that is less than approximately 100 cm, 90 cm, 80 cm, 75 cm, 70 cm, 65 cm, 60 cm, 55 cm, 50 cm, 45 cm, 40 cm, 35 cm, 30 cm, 25 cm, 20 cm, 15 cm, 12 cm, 10 cm, 8 cm, 7 cm, 6 cm, 5 cm, 4 cm, 3 cm, 2 cm, or 1 cm relative to a location where the UAV lands on the energy supply station.

[0117] Data about the detected marker can be provided to one or more processors. The processors can be mounted on the unmanned aerial vehicle. Based on the detected information about the detected marker, the processors can generate command signals separately or collectively. The command signals can drive the power unit of the unmanned aerial vehicle. For example, when the detected marker is determined to belong to an energy supply station, the power unit can be driven to land the unmanned aerial vehicle on the energy supply station with the detected marker. The detected marker can indicate the state of charge of the stored battery at the energy supply station. For example, if the energy supply station has fully charged batteries available, the detected marker can generate a command from the processor to land the unmanned aerial vehicle. In another example, if the energy supply station does not have fully charged batteries available, the detected marker can generate a command from the processor to continue flying to the next energy supply station. Therefore, the unmanned aerial vehicle may be able to land autonomously or semi-autonomously in response to the detected marker. The unmanned aerial vehicle may be able to land without receiving any commands or manual input from the user.

[0118] In some embodiments, sensors mounted on the UAV can be used to detect the markings, and processing can be performed on the UAV. Once the UAV has confirmed that the markings belong to an energy supply station, the UAV can land on the energy supply station without the need for additional guidance or information from the energy supply station.

[0119] The energy supply station may include a marker and one or more coupling components. The energy supply station may transmit its location information to the UAV. The energy supply station may include a positioning unit capable of determining location information. The energy supply station may receive information from the UAV regarding the UAV's location and the status of its batteries. For example, the UAV's coordinates, such as Global Positioning System coordinates, may be provided to the energy supply station. In another embodiment, the UAV may communicate the remaining percentage of the battery currently in use on the UAV. The energy supply station may include a communication unit capable of communicating with the UAV. The energy supply station may include a processor capable of identifying and / or calculating the UAV's location. Furthermore, the energy supply station may include a processor capable of identifying and / or calculating the location of the nearest battery exchange station. For example, the UAV may communicate with the energy supply station and learn that the remaining charge of the UAV's onboard battery is 18%. The processor on the energy supply station may then determine the distance to the next battery exchange station in the UAV's flight path, thereby determining whether the UAV should stop for recharging or continue to the next energy supply station.

[0120] Figure 6 A possible embodiment of an energy supply station is shown. The energy supply station may have four basic components: a battery replacement part 601, an unmanned aerial vehicle landing area 602, a battery storage unit 603, and a power supply 604. The battery replacement part may be a robotic arm 601, which can be used to remove batteries from the unmanned aerial vehicle and / or place charged batteries in the unmanned aerial vehicle. In some cases, the robotic arm can not only remove batteries from the unmanned aerial vehicle, but also place charged batteries in the unmanned aerial vehicle. Alternatively, different mechanical components can be used to remove batteries from the unmanned aerial vehicle and place charged batteries in the unmanned aerial vehicle. The robotic arm may have at least one, two, three, four, five, or six degrees of freedom. The robotic arm can move autonomously or semi-autonomously.

[0121] The UAV landing area 602 may include a number of markings that are uniquely identifiable by an approaching UAV. The landing area may include passive landing guides 605. The passive landing guides are used to interact with components of the UAV during landing to guide the UAV to its final resting position. The UAV may include landing gear that can cooperate with the passive landing guides and be guided to its final resting position. The UAV may include a surface on which the UAV can land. The UAV may rest on the surface, with all or a majority of the UAV's weight being supported by the passive landing guides.

[0122] The battery storage unit 603 can store multiple batteries. The battery storage unit can store batteries and simultaneously charge these stored batteries. The battery storage unit can move the batteries relative to each other. The battery storage unit can move the batteries relative to the UAV landing area and / or the UAV at the landing area. Using the battery storage unit, multiple batteries can be moved simultaneously. When the UAV lands on the energy supply station, the charged batteries can be placed in a position so that the robotic arm 601 can install the charged batteries in the position on the UAV. For example, the robotic arm can remove a depleted battery from the UAV and place it in a specific position relative to the battery storage unit. The battery storage unit can accept depleted batteries. The battery storage unit can move the batteries so that a different battery (e.g., a fully charged battery) can be moved to a position to accept the depleted battery. The robotic arm can receive different batteries. In some cases, the movement can include rotating the battery storage unit about an axis.

[0123] The power source 604 may be a battery, a connection to a distributed power source, or an onboard renewable energy source. Examples of onboard renewable energy sources may include at least one wind turbine, a hydro turbine, or a solar generator. The power source may provide power to the UAV while the battery onboard the UAV is replaced with an alternative battery with a higher remaining charge. The power source may provide power to the propulsion system and the controller and / or the inertial measurement unit, or the power source may only provide power to the controller / inertial measurement unit or other power consuming units. The power source may provide continuous power to the UAV. Alternatively, continuous power may be provided to the UAV from a backup power source or battery onboard the UAV. The operation of the backup power source onboard the UAV may be similar to Figure 4 , so that the system can operate in a first mode and a second mode. In the first mode, the first battery can provide power to the power unit and the controller and / or the inertial measurement unit. In the second mode, the unmanned aerial vehicle can land on an energy supply station, and while the first battery is removed for charging and replaced with a fully or partially charged battery, the second battery can provide power to the controller and / or the inertial measurement unit or other power-consuming units. The power system described herein can provide continuous power to one or more power-consuming units on the unmanned aerial vehicle. Providing continuous power to these components may be advantageous because these components may have settings and / or data storage that may be lost when they are powered off.

[0124] The UAV landing area of ​​the energy supply station can be configured to include passive landing guidance. The UAV can have at least one protruding feature that can mate with a corresponding cavity in the landing area of ​​the energy supply station. For example, the UAV can have four conical stops that can fit into four conical notches in the landing area. The protruding feature can be a launch pad configured to support the weight of the UAV. Figure 7 An example of an unmanned aerial vehicle 701 landing on an energy supply station 702 is shown, in which a conical stop 703 is mated with a conical notch 704 on the landing area. In alternative embodiments, the stop and the notch may include a variety of other mating shapes. The stop may be made of rubber, plastic, metal, wood, or a composite. The height and width of the stop may be less than or equal to 1 mm, 5 mm, 1 cm, 3 cm, 5 cm, 10 cm, 12 cm, 15 cm, 20 cm, 25 cm, 30 cm, 35 cm, 40 cm, 45 cm, 50 cm, 55 cm, 60 cm, 65 cm, 70 cm, 75 cm, 80 cm, 85 cm, 90 cm, 95 cm, or 100 cm. The notch may have corresponding dimensions so that the notch fits the stop.

[0125] In another example, the UAV may include a protrusion that does not completely match the indentation in the landing area. In this example, the UAV may have a feature protruding from the bottom of the UAV that is designed to be smaller than the indentation in the landing area. The protruding feature on the bottom of the UAV may fit into the indentation. In a specific example of this configuration, the UAV may have a protruding bar, and the landing area may have a conical indentation. Once landed, the protruding bar may be inserted into the bottom of the conical indentation. For example, if the protruding bar hits the side of the indentation, gravity may cause the protruding bar to slide into the bottom of the indentation. Figure 8 Detailed side view (left) and top view (right) of a possible embodiment of a landing area 801 with a docked UAV 802 are shown, showing the protruding bars fitting into the conical indentations 803. Optionally, the protruding bars can serve as landing gear for the UAV. The protruding bars can support the weight of the UAV while it is resting on the landing area. The indentations can support the weight of the protruding bars and / or the UAV while it is resting on the landing area.

[0126] The passive landing guidance reduces the need for high-precision control during the UAV landing process. It is used to correct the UAV if it approaches the station but deviates from the desired landing position. The passive landing guidance allows the UAV to enter the desired position under the influence of gravity. Figure 9An example of how the passive landing guidance can correct a UAV if it strays close to a station is shown. Figure 9 In the example shown, the UAV approaches the landing guide (1) slightly to the right. The UAV partially matches the passive landing guide, and after contacting the landing guide, the UAV can slide down to the correct position (2). This process of correcting the UAV to the correct landing position can rely on gravity without the need for moving parts or additional mechanisms.

[0127] The energy supply station may include a battery storage system. The battery storage system may be a conveying device. The batteries in the battery storage system may be fully charged, partially charged, or depleted. These batteries may be connected to a power source to restore these batteries from a depleted state or a partially charged state to a fully charged state. The batteries may be identical in size, shape, and battery type (e.g., lithium ion, nickel cadmium). Alternatively, different battery sizes, shapes, or types are also acceptable. The battery storage system may be used to store at least 2, 3, 4, 5, 6, 7, 8, 9, 10, 15, 20, 25, 30, 35, 40, 45, or 50 batteries. In some embodiments, the battery system may store fewer than any of the described numbers. The battery system may store many batteries, and the number of batteries may be within a range between any two of the described values.

[0128] The battery storage system may include individual ports for each battery. These ports are movable relative to each other. Multiple ports may move simultaneously. These ports may rotate clockwise, counterclockwise, or in two directions simultaneously around an axis. The axis of rotation may be horizontal (e.g., parallel to a reference plane or the ground, perpendicular to the direction of gravity) or vertical (e.g., perpendicular to a reference plane or the ground, parallel to the direction of gravity). These ports may translate in any direction. Optionally, these ports may translate and rotate simultaneously. These ports may have electrical connections that may be connected to a processor to measure the available power on the battery, or they may be connected to a power source to charge the battery. The power source may be on or off the energy supply station. For example, the power source may be a generator, a rechargeable battery, a disposable battery, or a connection to a distributed power line. The energy supply station may be permanently installed or may be temporarily installed. In the case of a temporary energy supply station, the energy supply station may be configured to be portable and may be carried by the user.

[0129] The stored batteries can be moved relative to each other. In one example, the batteries can be moved relative to each other on a conveyor. Figure 10 An example of a possible battery transport device 1001 for use with a battery storage system is shown. Figure 10The conveyor shown in FIG. 1 can hold eight batteries 1002. Alternatively, the conveyor can be selected to hold at least four, five, six, seven, eight, nine, ten, fifteen, twenty, twenty-five, thirty, thirty-five, forty, forty-five, or fifty batteries. The conveyor can be configured to hold fewer batteries than those described herein, or a number of batteries within a range between any two of the values ​​described herein. The batteries on the conveyor can be identical in size, shape, voltage, and composition. Each battery can be stored in a compartment 1003. During installation and removal from the UAV, the batteries can be slid into and out of the compartment. For example, the batteries can be slid in and out laterally through a side opening of the compartment. During storage, the batteries can be locked into the compartment. The batteries can be charged onboard the UAV or in a storage compartment within the battery storage system. The battery storage compartment can be configured to provide a charge to the batteries via electrical contacts. Figure 11 An example of a possible battery storage compartment 1101 is shown, having electrical contacts 1102 for providing a charge to the batteries. The electrical contacts can be connected to a power source 1103 external to the batteries. The batteries can also be connected to a meter to determine whether they have been fully charged. The container can provide only enough power to charge the stored batteries, or only partially charge them. The battery storage compartment can be part of a conveyor or other battery storage unit. The battery storage compartment can be movable relative to the rest of the energy supply station.

[0130] The battery conveyor can rotate about axis 1004. The conveyor can rotate clockwise or counterclockwise. The conveyor can be capable of rotating in either clockwise or counterclockwise direction or in only one direction. The rotation can be driven by an actuator, such as a motor. The actuator can receive command signals from a controller on or outside the energy supply station, which command signals control the movement of the battery storage system. The conveyor can be configured perpendicular to the base of the energy supply station 1005. For example, the length of the axis can be parallel to the base of the energy supply station. Alternatively, the conveyor can be oriented parallel to the base of the energy supply station or at any other angle relative to the base of the energy supply station. Figure 12 A possible embodiment of a complete energy supply station is shown. Figure 12 As shown, a landing area 1201 may be positioned above a conveyor 1202. The battery conveyor may be partially or completely enclosed by a housing.

[0131] The battery storage system can be rotated by an actuator. The battery storage system can include a steering lock so that the battery storage can be locked when necessary, thereby preventing the battery storage from rotating and securing it in a desired position. The steering lock can be located at the bottom, top, or along the side of the conveyor.

[0132] The energy supply station may include a mechanism for moving the battery. The mechanism may be an automated battery changer. The mechanism may be a robotic arm, an actuator, or a pulley. The mechanism may be a mechanical lift. In one embodiment, the mechanism for moving the battery may be a robotic arm. The robotic arm may have at least two degrees of freedom. For example, a robotic arm with two degrees of freedom is capable of moving parallely (1) and vertically (2). Upward and downward movement may be accomplished by a linear actuator or any other type of actuator. Horizontal movement may be accomplished by a rack and pinion mechanism driven by an actuator. Horizontal movement may be linear movement. A horizontal actuator may be mounted on a vertical movement actuator so that the robotic arm can move vertically first and then horizontally. Optionally, the robotic arm may allow the battery to move vertically and / or horizontally without causing the battery to rotate. The battery translates without being rotated by the robotic arm. In an alternative embodiment, the robotic arm may allow the battery to rotate or change direction.

[0133] The mechanism for moving the battery may include an end piece that is suitable for attaching to the battery to be removed from the unmanned aerial vehicle. For example, the end piece may be a magnet, a hook or a suction device. In a preferred embodiment, the end piece is a clamp. The clamp may be mounted on a reciprocating (forward and back) module so that the robotic arm can move forward or backward and then clamp or release the battery. The clamping movement may be driven by a steering wheel and linkage system. The clamp may be attached to the battery by pressing the battery between the two sides of the clamp with sufficient pressure to hold the battery, alternatively, the battery and the clamp may include some complementary mating features. Examples of complementary mating features may be nails and holes. Similar mating features can be used to hold the battery in the battery storage unit.

[0134] Figure 13 A schematic diagram of a possible robotic arm is shown. The robotic arm can be raised from the base of the energy supply station by a rod 1301. The robotic arm can be configured to move up and down along the rod. The robotic arm can move up and down autonomously or semi-autonomously. The robotic arm can be attached to the rod via a second track 1302, on which the robotic arm can move forward and backward. The robotic arm can move forward and backward autonomously or semi-autonomously. A third feature of the robotic arm can be a terminal clamp 1303. The terminal clamp can have a C-shaped opening oriented to mate with the recessed battery opening of the unmanned aerial vehicle. The terminal clamp can be opened and closed and can be attached to a battery.

[0135] Figure 14 A detailed view showing an embodiment of a robotic arm. Figure 14 The example shown in FIG. 1 depicts a clamp 1401 mounted on a rack-and-pinion mechanism 1402. The clamp can be oriented horizontally so that its ends are positioned at opposite ends of a battery. The rear end 1403 of the clamp includes a portion that can rotate, thereby moving the ends of the clamp 1404 closer together or further apart. The rear end control portion can rotate with the aid of an actuator that operates in response to a command signal from a controller located on or off the energy supply station.

[0136] Figure 15 A complete view of a robotic arm is provided, comprising a clamp 1501 mounted on a rack and pinion mechanism 1502. The assembly comprises the clamp and rack and pinion mechanism supported on an actuator 1503, which is used to move the assembly in a vertical up and down path. In addition to vertical movement, the entire assembly can also rotate clockwise or counterclockwise about a pivot point 1504. The pivot point can be oriented so that the entire assembly can rotate about a vertical axis. This configuration allows the assembly to change orientation. In some cases, the assembly can rotate within a limited range. In some cases, the robotic arm cannot rotate about an axis and can be rotationally fixed.

[0137] Before or while the battery is removed from the unmanned aerial vehicle by the mechanism for moving the battery, the unmanned aerial vehicle may be connected to a backup power source so that continuous power is provided to the unmanned aerial vehicle during the battery replacement process. The backup power source may be a battery or a renewable energy generating power source carried on the unmanned aerial vehicle. Alternatively, the backup power source may be a connection to a distributed power source (e.g., a grid connection) via a wire, a battery, or a renewable energy source on an energy supply station. The backup power source may provide power to the unmanned aerial vehicle via an electrical connection. The backup power source may provide power to the unmanned aerial vehicle before, during, and after the first battery is disconnected from the unmanned aerial vehicle. The charge level or available voltage of the backup power source may be higher than the battery removed from the unmanned aerial vehicle or disconnected from the unmanned aerial vehicle during the battery replacement process.

[0138] The system may include two possible backup power sources, such that the first backup power source may be a battery and the second backup power source may be a renewable energy generator. The backup power sources are used to supply power to the UAV before, during, and after the first battery is disconnected from the UAV. A processor at the energy supply station or on the UAV may direct the system to use the first backup power source or the second backup power source based on a reliability assessment. The first backup power source may be a battery onboard the UAV. The reliability of the first backup power source may be proportional to the remaining charge in the battery. For example, if the remaining charge in the battery is below a predetermined threshold, the battery may be considered to have low reliability. The second backup power source may be a power source on the energy supply station. The second backup power source may be a battery. The reliability of the second backup power source may be proportional to the remaining charge in the battery. Alternatively, the second backup power source may be a renewable energy generator. If the second backup power source is a renewable energy generator, the reliability of the second backup power source may be proportional to the consistency of the power source. The consistency of the power source may correspond to the power generation supplied by the power source over a fixed time interval. For example, when the backup power source is a solar generator, the processor may determine that the power source has high reliability during sunny days and low reliability during cloudy conditions or at night. In another example, when the backup power source is a wind turbine, the processor may determine that the power source has high reliability during periods of high and sustained wind conditions and low reliability during calm days.

[0139] The processor may direct the energy supply system and / or the unmanned aerial vehicle to use a power source with high reliability to provide power to the unmanned aerial vehicle. Alternatively, the processor may be programmed to use a predetermined default backup power source to provide power to the unmanned aerial vehicle. The use of the default backup power source may be determined by the default backup power source having a reliability above a predetermined threshold. For example, the first backup power source may be the default backup power source, which may be selected to provide backup power to the unmanned aerial vehicle so that the power source has a reliability above a predetermined threshold. When the default backup power source has a reliability below a predetermined threshold, a second backup power source may be used. During the battery replacement process, the first backup power source or the second backup power source may provide power to the unmanned aerial vehicle so that the unmanned aerial vehicle remains continuously powered, including during periods when no battery is connected to the unmanned aerial vehicle. The first battery may be disconnected from the unmanned aerial vehicle using a battery replacement. The first battery is configured not to provide power to the unmanned aerial vehicle when it is disconnected from the unmanned aerial vehicle. When the first battery is disconnected from the unmanned aerial vehicle, the backup power source (or energy source) selected by the processor may provide power to the unmanned aerial vehicle.

[0140] Figure 16 The complete energy supply station assembly is shown, which includes a landing area 1601, a battery storage system 1602, and a robotic arm 1603. Figure 16In the illustrated embodiment, the battery storage system is located below the landing area, and the robotic arm is positioned adjacent to the battery storage system and the landing area, allowing the robotic arm to access both areas of the energy supply station. The robotic arm is vertically movable between the UAV landing area and the battery storage system while performing the battery conversion process. Optionally, a slot or opening 1604 may be provided in the UAV landing area to allow the robotic arm and / or batteries to traverse the area between the UAV landing area and the battery storage system.

[0141] The UAV can locate an energy supply station in mid-air. After locating the energy supply station, the UAV can communicate with the energy supply station to determine whether the UAV should approach the energy supply station and land on the energy supply station to begin the battery swap process. When the UAV is docked at the landing area of ​​the energy supply station, the battery life reloading process can begin. Reloading the battery life on the UAV may include improving the overall battery state of the UAV during charging. The process may include: (1) recharging the existing battery while the battery is on the UAV, (2) removing the existing battery from the UAV, recharging the existing battery outside the UAV, and connecting the existing battery to the UAV, or (3) removing the existing battery from the UAV, taking a new battery with a higher state of charge, and connecting the new battery to the UAV. The UAV docked at the landing area can communicate with a processor on the energy supply station. Alternatively, the UAV can remotely communicate with a processor outside the energy supply station. The processor can determine the remaining charge of the battery currently in use on the UAV by communicating with a sensor in contact with the battery. The remaining charge on the battery can be sensed by a voltmeter. Based on the percentage of charge remaining on the battery, the processor can initiate a response, which may include replacing the current battery with a fully charged battery from the storage system, or charging the current battery. The decision to charge or replace the battery on the unmanned aerial vehicle can be based on a threshold percentage of charge remaining. The threshold can be 50%, 40%, 30%, 20%, 10%, or 5% of charge remaining. The threshold can be fixed or can be a variable that changes with the age of the battery, battery type, flight conditions, ambient temperature, or the distance to the next energy supply station. After the optimal response is determined, the battery replacement or charging can be performed at the energy supply station. After the battery replacement or charging is completed, the processor can indicate that the unmanned aerial vehicle can take off from the landing area.

[0142] Figure 17A flow chart is shown outlining the decision-making process performed by one or more processors, individually or collectively, as an unmanned aerial vehicle approaches a landing area. When an unmanned aerial vehicle detects an energy supply station in its vicinity, the unmanned aerial vehicle can communicate with the energy supply station. The unmanned aerial vehicle can transmit a number of variables, such as flight time, flight distance, time of last charge, or remaining distance of the mission, to the energy supply station (1701). Based on this information, a processor, which may be on or off the energy supply station, can direct the unmanned aerial vehicle to land on the energy supply station for further evaluation (1702). Once the unmanned aerial vehicle has docked at the landing area, the energy supply station can measure the remaining charge of the battery 1703. If the charge is above a preset threshold, the energy supply station can provide charge to the battery currently on the unmanned aerial vehicle (1704). If the battery is below a threshold charge percentage, the energy supply station can initiate a battery replacement process (1705) to replace the battery on the unmanned aerial vehicle with a fully or partially charged battery from a battery storage system.

[0143] The instruction to replace or charge a battery on the unmanned aerial vehicle may be based on the remaining charge of the battery relative to a predetermined threshold, or the instruction may be based on one or more other factors. For example, the current charge of the batteries in the battery storage system may affect the instruction. For example, the number of available batteries in the battery storage system may affect the instruction. If no batteries are available, the battery may be charged regardless of the state of charge. If only a single battery is available, the state of charge of the onboard battery may be used for comparison with the single battery provided by the battery storage system. The battery storage battery charge may affect the instruction to replace or charge the battery, so that if the energy supply station only has partially charged batteries in the storage system, the processor may give an instruction to charge the onboard battery on the unmanned aerial vehicle instead of replacing the battery with a partially charged battery. In another example, the time required to replace the battery may be considered and compared with the time required to charge the battery. The decision to replace or charge the battery may be selected so that the time required is optimized. Other factors that may affect the outcome of instructions from the processor may include the number of other UAVs detected by the energy supply station in its vicinity, the mission of the UAV landing on the energy supply station, and / or current flight conditions (e.g., headwind, tailwind, temperature).

[0144] The battery swap process may utilize a robotic arm mechanism. The first step in the process may be to move the robotic arm vertically so that the robotic arm is aligned with a recessed battery receptacle, which may be the location of the battery to be removed from the UAV. Next, the robotic arm may move horizontally to access the battery to be removed from the UAV. Once the robotic arm is sufficiently close to the battery to be removed from the UAV, the clamp may open and close to attach to the battery. Once the robotic arm has attached to the battery, the robotic arm may be withdrawn horizontally from the UAV and moved vertically to align with an empty storage receptacle in the battery storage system. The robotic arm may place the depleted battery removed from the UAV into an empty storage receptacle in the battery storage system. Next, the battery storage system may be rotated so that the charged or partially charged battery is aligned with the robotic arm. The robotic arm may repeat the steps used to remove the battery from the UAV to remove the charged or partially charged battery from the battery storage system. After the robotic arm has gripped the charged or partially charged battery, the robotic arm can be moved vertically to align with the recessed battery receptacle of the UAV. The robotic arm can then be moved horizontally to push the charged or partially charged battery into the recessed battery receptacle on the UAV. Once the battery fits into the recessed battery receptacle, the robotic arm can then release the gripper on the battery and withdraw from the UAV. After the robotic arm withdraws, the UAV can take off vertically from the landing area and continue its mission.

[0145] The systems, devices, and methods described herein are applicable to a wider range of movable objects. As previously mentioned, any description herein of an aircraft, such as an unmanned aerial vehicle, is applicable to and usable for any movable object. Any description herein of an aircraft is particularly applicable to an unmanned aerial vehicle. The movable objects of the present invention can be used to move in any suitable environment, such as in air (e.g., a fixed-wing aircraft, a rotary-wing aircraft, or an aircraft with neither fixed nor rotary wings), in water (e.g., a ship or submarine), on land (e.g., a motor vehicle, such as a car, truck, bus, van, motorcycle, bicycle; a movable structure or frame, such as a pole, fishing rod; or a train), underground (e.g., a tunnel), in space (e.g., a space shuttle, a satellite, or a probe), or any combination of these environments. The movable object can be a vehicle, such as a vehicle described elsewhere herein. In some embodiments, the movable object can be carried by or away from a living subject, such as a human or an animal. Suitable animals may include vines, dogs, cats, horses, cattle, sheep, pigs, delphiniums, rodents, or insects.

[0146] The movable object is capable of moving freely in an environment relative to six degrees of freedom (for example, three degrees of freedom of translation and three degrees of freedom of rotation). Alternatively, the movement of the movable object is constrained, for example, by a predetermined path, trajectory or direction relative to one or more degrees of freedom. The movement can be actuated by any suitable actuating mechanism, such as an engine or a motor. The actuating mechanism of the movable object can be powered by any suitable energy source, such as electrical energy, magnetic energy, solar energy, wind energy, gravitational energy, chemical energy, nuclear energy or any suitable combination thereof. The movable object can be self-propelled by a propulsion system, as described elsewhere herein. The propulsion system can optionally operate with an energy source, such as electrical energy, magnetic energy, solar energy, wind energy, gravitational energy, chemical energy, nuclear energy or any suitable combination thereof. Alternatively, the movable object can be carried by a living subject.

[0147] In some cases, the movable object may be an aircraft. For example, the aircraft may be a fixed-wing aircraft (e.g., an airplane, a glider), a rotary-wing aircraft (e.g., a helicopter, a gyroplane), an aircraft with fixed wings and rotary wings, or an aircraft without fixed wings and rotary wings (e.g., an airship, a hot air balloon). The aircraft may be self-propelled, for example, by means of air. A self-propelled aircraft may utilize a propulsion system, such as a propulsion system comprising one or more engines, motors, wheels, axles, magnets, rotors, propellers, blades, nozzles, or any suitable combination thereof. In some cases, the propulsion system may be used to enable the movable object to take off from a surface, land on a surface, maintain the current position and / or orientation of the movable object (e.g., hover), change direction, and / or change position.

[0148] The movable object can be remotely controlled by a user, or locally controlled by an occupant within or on the movable object. The movable object can be remotely controlled by an occupant in a separate vehicle. In some embodiments, the movable object is an unmanned movable object, such as an unmanned aerial vehicle. An unmanned movable object, such as an unmanned aerial vehicle, has no occupants. The movable object can be controlled by a human or an autonomous control system (e.g., a computer control system), or any suitable combination thereof. The movable object can be an autonomous or semi-autonomous robot, such as a robot with artificial intelligence.

[0149] The movable object may have any suitable size and / or dimensions. In some embodiments, the movable object has a size and / or dimensions that allows a human occupant to be placed in or on the vehicle. Alternatively, the size and / or dimensions of the movable object may be smaller than a size and / or dimensions that allows a human occupant to be placed in or on the vehicle. The size and / or dimensions of the movable object may be suitable for being lifted or carried by a person. Alternatively, the movable object may be larger than a size and / or dimensions that allows a person to be lifted or carried by a person. In some cases, the movable object may have a maximum size (e.g., length, width, height, diameter, diagonal) that is less than or equal to approximately: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m. The maximum size may be greater than or equal to approximately: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m. For example, the distance between the axes of the opposing rotors of the movable object may be less than or equal to approximately: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m. Alternatively, the distance between the axes of the opposing rotors may be greater than or equal to approximately: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m.

[0150] In some embodiments, the movable object may have a volume that is less than 100 cm x 100 cm x 100 cm, less than 50 cm x 50 cm x 30 cm, or less than 5 cm x 5 cm x 3 cm. The total volume of the movable object may be less than or equal to approximately: 1 cm3, 2 cm3, 5 cm3, 10 cm3, 20 cm3, 30 cm3, 40 cm3, 50 cm3, 60 cm3, 70 cm3, 80 cm3, 90 cm3, 100 cm3, 150 cm3, 200 cm3, 300 cm3, 500 cm3, 750 cm3, 1000 cm3, 5000 cm3, 10,000 cm3, 100,000 cm3, 1 m3, or 10 m3. Conversely, the total volume of the movable object may be greater than or equal to approximately: 1cm3, 2cm3, 5cm3, 10cm3, 20cm3, 30cm3, 40cm3, 50cm3, 60cm3, 70cm3, 80cm3, 90cm3, 100cm3, 150cm3, 200cm3, 300cm3, 500cm3, 750cm3, 1000cm3, 5000cm3, 10,000cm3, 100,000cm3, 1m3 or 10m3.

[0151] In some embodiments, the movable object may have a footprint (which refers to the transverse cross-sectional area encompassed by the movable object) that is less than or equal to approximately: 32,000 cm2, 20,000 cm2, 10,000 cm2, 1,000 cm2, 500 cm2, 100 cm2, 50 cm2, 10 cm2, or 5 cm2. Conversely, the footprint is greater than or equal to approximately: 32,000 cm2, 20,000 cm2, 10,000 cm2, 1,000 cm2, 500 cm2, 100 cm2, 50 cm2, 10 cm2, or 5 cm2.

[0152] In some cases, the weight of the movable object may be no greater than 1000 kg. The weight of the movable object may be less than or equal to approximately: 1000 kg, 750 kg, 500 kg, 200 kg, 150 kg, 100 kg, 80 kg, 70 kg, 60 kg, 50 kg, 45 kg, 40 kg, 35 kg, 30 kg, 25 kg, 20 kg, 15 kg, 12 kg, 10 kg, 9 kg, 8 kg, 7 kg, 6 kg, 5 kg, 4 kg, 3 kg, 2 kg, 1 kg, 0.5 kg, 0.1 kg, 0.05 kg, or 0.01 kg. Conversely, the weight of the movable object may be greater than or equal to approximately: 1000kg, 750kg, 500kg, 200kg, 150kg, 100kg, 80kg, 70kg, 60kg, 50kg, 45kg, 40kg, 35kg, 30kg, 25kg, 20kg, 15kg, 12kg, 10kg, 9kg, 8kg, 7kg, 6kg, 5kg, 4kg, 3kg, 2kg, 1kg, 0.5kg, 0.1kg, 0.05kg or 0.01kg.

[0153] In some embodiments, the movable object may be smaller than the load carried by the movable object. The load may include a payload and / or a carrier, as described in more detail elsewhere herein. In some examples, the ratio of the weight of the movable object to the weight of the load may be greater than, less than, or equal to approximately 1:1. In some cases, the ratio of the weight of the movable object to the weight of the load may be greater than, less than, or equal to approximately 1:1. Optionally, the ratio of the weight of the carrier to the weight of the load may be greater than, less than, or equal to approximately 1:1. If desired, the ratio of the weight of the movable object to the weight of the load may be less than or equal to: 1:2, 1:3, 1:4, 1:5, 1:10, or even less. Conversely, the ratio of the weight of the movable object to the weight of the load can also be greater than or equal to: 1:2, 1:3, 1:4, 1:5, 1:10, or even greater.

[0154] In some embodiments, the movable object may have low energy consumption. For example, the energy consumption of the movable object may be less than approximately 5 W / h, 4 W / h, 3 W / h, 2 W / h, 1 W / h, or less. In some cases, the carrier of the movable object may have low energy consumption. For example, the energy consumption of the carrier may be less than approximately 5 W / h, 4 W / h, 3 W / h, 2 W / h, 1 W / h, or less. Optionally, the payload of the movable object may have low energy consumption, for example, less than approximately 5 W / h, 4 W / h, 3 W / h, 2 W / h, 1 W / h, or less.

[0155] Figure 18 An unmanned aerial vehicle (UAV) 1800 is shown in accordance with an embodiment of the present invention. The UAV may be an example of a movable object as described herein. The UAV 1800 may include a propulsion system having four rotors 1802, 1804, 1806, and 1808. Any number of rotors may be provided (e.g., one, two, three, four, five, six, or more). The rotors, rotor assemblies, or other propulsion systems of the UAV may enable the UAV to hover and / or maintain position, change direction, and / or change position. The distance between the axes of the opposing rotors may be any suitable length 410. For example, the length 1810 may be less than or equal to 2 meters, or less than or equal to 5 meters. In some embodiments, the length 1810 may be in the range of 40 cm to 1 meter, 10 cm to 2 meters, or 5 cm to 5 meters. Any description herein of a UAV may apply to a movable object, such as a different type of movable object, and vice versa. The UAV may utilize an assisted takeoff system or method as described herein.

[0156] In some embodiments, the movable object can be used to carry a load. The load can include one or more of passengers, cargo, equipment, instruments, and the like. The load can be provided within a housing. The housing can be separate from the housing of the movable object, or be part of the housing of the movable object. Alternatively, the load can have a housing, while the movable object does not have a housing. Alternatively, multiple parts of the load or the entire load can be without a housing. The load can be rigidly fixed relative to the movable object. Optionally, the load can be movable relative to the movable object (e.g., can translate or rotate relative to the movable object). The load can include a payload and / or a carrier, as described elsewhere herein.

[0157] In some embodiments, the movement of the movable object, carrier and payload relative to a fixed reference frame (e.g., the surrounding environment) and / or relative to each other can be controlled by a terminal. The terminal may be a remote control device at a location away from the movable object, carrier and / or payload. The terminal may be placed on or fixed to a support platform. Alternatively, the terminal may be a handheld or wearable device. For example, the terminal may include a smart phone, a tablet computer, a laptop computer, a computer, glasses, gloves, a helmet, a microphone, or a suitable combination thereof. The terminal may include a user interface such as a keyboard, a mouse, a joystick, a touch screen or a display. Any suitable user input can be used to interact with the terminal, such as manually input commands, voice control, gesture control or position control (e.g., by movement, position or tilt of the terminal).

[0158] The terminal can be used to control any suitable state of the movable object, carrier, and / or payload. For example, the terminal can be used to control the position and / or orientation of the movable object, carrier, and / or payload relative to a fixed reference and / or relative to each other. In some embodiments, the terminal can be used to control individual elements of the movable object, carrier, and / or payload, such as an actuator component of the carrier, a sensor of the payload, or a transmitter of the payload. The terminal can include a wireless communication device suitable for communicating with one or more devices in the movable object, carrier, and / or payload.

[0159] The terminal may include a suitable display unit for viewing information about the movable object, carrier, and / or payload. For example, the terminal may be configured to display information about the position, translational velocity, translational acceleration, direction, angular velocity, angular acceleration, or any suitable combination thereof, of the movable object, carrier, and / or payload. In some embodiments, the terminal may display information provided by the payload, such as data provided by the functional payload (e.g., images recorded by a camera or other image acquisition device).

[0160] Optionally, the same terminal can simultaneously control the movable object, carrier, and / or payload, or control the state of the movable object, carrier, and / or payload, and receive and / or display information from the movable object, carrier, and / or payload. For example, while displaying image data captured by the payload or information about the payload's location, the terminal can control the payload's positioning relative to the environment. Alternatively, different terminals can be used for different functions. For example, a first terminal can control the movement or state of the movable object, carrier, and / or payload, while a second terminal can receive and / or display information from the movable object, carrier, and / or payload. For example, the first terminal can be used to control the payload's positioning relative to the environment, while the second terminal displays image data captured by the payload. Various communication modes can be used between the movable object and an integrated terminal that controls the movable object and receives data, or between the movable object and multiple terminals that control the movable object and receive data. For example, at least two different communication modes can be established between the movable object and a terminal that controls the movable object and receives data from the movable object.

[0161] Figure 19 A movable object 1900 is shown, according to an embodiment, and includes a carrier 1902 and a payload 1904. Although movable object 1900 is described as an aircraft, this description is not limited thereto, and as previously described herein, any suitable type of movable object may be used. Those skilled in the art will appreciate that any embodiment described herein in the context of an aircraft system may be applied to any suitable movable object (e.g., an unmanned aerial vehicle). In some cases, payload 1904 may be provided on movable object 1900 without carrier 1902. Movable object 1900 may include a propulsion mechanism 1906, a sensing system 1908, and a communication system 1910.

[0162] The propulsion mechanism 1906 may include one or more of the following: a rotor, a propeller, a blade, an engine, a motor, a wheel, an axle, a magnet, or a nozzle, as previously described. The movable object may have one or more, two or more, three or more, or four or more propulsion mechanisms. The propulsion mechanisms may all be of the same type. Alternatively, one or more propulsion mechanisms may be propulsion mechanisms of different types. The propulsion mechanism 1906 may be mounted on the movable object 1900 using any suitable means, such as a support element (e.g., a drive shaft), as described elsewhere herein. The propulsion mechanism 1906 may be mounted on any suitable portion of the movable object 1900, such as on the top, bottom, front, back, side, or a suitable combination thereof.

[0163] In some embodiments, propulsion mechanism 1906 can enable movable object 1800 to take off vertically from a surface or land vertically on a surface without requiring any horizontal movement of movable object 1900 (e.g., without taxiing along a runway). Optionally, propulsion mechanism 1906 can operate to allow the movable object to hover in a specific position and / or direction while in the air. One or more propulsion mechanisms 1900 can be controlled independently of other propulsion mechanisms. Alternatively, propulsion mechanisms 1900 can be controlled simultaneously. For example, movable object 1900 can have multiple horizontally oriented rotors that can provide lift and / or thrust to the movable object. The multiple horizontally oriented rotors can be actuated to provide the movable object with vertical takeoff, vertical landing, and hovering capabilities. In some embodiments, one or more horizontally oriented rotors can rotate in a clockwise direction, while one or more horizontally oriented rotors can rotate in a counterclockwise direction. For example, the number of rotors rotating clockwise can be equal to the number of rotors rotating counterclockwise. The rotation rate of each horizontally-oriented rotor can be individually varied to control the lift and / or thrust generated by each rotor and thereby adjust the spatial placement, velocity, and / or acceleration of movable object 1800 (e.g., with respect to up to three translational degrees of freedom and up to three rotational degrees of freedom).

[0164] The sensing system 1908 may include one or more sensors that can sense the spatial configuration, velocity, and / or acceleration of the movable object 1900 (e.g., with respect 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 distance sensor, or an image sensor. The sensory data provided by the sensing system 1908 can be used to control the spatial configuration, velocity, and / or direction of the movable object 1900 (e.g., using a suitable processing unit and / or control module, as described below). Alternatively, the sensing system 1908 can be used to provide data about the environment surrounding the movable object, such as weather conditions, potential obstacles in proximity, the location of geographical features, the location of man-made structures, and the like.

[0165] Communication system 1910 is capable of communicating with a terminal 1912 having a communication system 1914 via wireless signals 1916. Communication systems 1910 and 1914 may include any number of transmitters, receivers, and / or transceivers suitable for wireless communication. Communication may be one-way communication, such that data can be transmitted in only one direction. For example, one-way communication may involve only movable object 1900 transmitting data to terminal 1912, and vice versa. Data may be transmitted from one or more transmitters of communication system 1910 to one or more receivers of communication system 1912, and vice versa. Alternatively, communication may be two-way communication, such that data can be transmitted in both directions between movable object 1900 and terminal 1912. Two-way communication may involve transmitting data from one or more transmitters of communication system 1910 to one or more receivers of communication system 1914, and vice versa.

[0166] In some embodiments, the terminal 1912 can provide control data to one or more devices in the movable object 1900, carrier 1902, and payload 1904, and receive control data from one or more of the movable object 1900, carrier 1902, and payload 1904 (e.g., position and / or motion information of the moving object, the carrier or payload, and data sensed by the payload, such as image data captured by a payload camera). In some cases, the control data from the terminal can include instructions regarding the relative position, movement, actuation, or control of the movable object, carrier, and / or payload. For example, the control data can result in a modification of the position and / or orientation of the movable object (e.g., by controlling the propulsion system 1906), or cause the payload to move relative to the movable object (e.g., by controlling the carrier 1902). The control data from the terminal can result in control of the payload, such as control of the operation of a camera or other image capture device (e.g., capturing still or moving images, zooming in or out, turning on or off, switching imaging modes, changing image resolution, changing focal length, changing depth of field, changing exposure time, changing viewing angle or field of view). In some cases, communications from the movable object, carrier, and / or payload may include information from one or more sensors (e.g., of sensing system 1908 or payload 1904). The communications may include sensory information from one or more different types of sensors (e.g., global positioning system sensors, motion sensors, inertial sensors, distance sensors, or image sensors). This information may relate to the positioning (e.g., position, orientation), movement, or acceleration of the movable object, carrier, and / or payload. This information from the payload may include data acquired by the payload, or a sensed state of the payload. The control data provided by the terminal 1912 transmission may be used to control the state of one or more devices in the movable object 1900, carrier 1902, or payload 1904. Alternatively or in combination, the carrier 1902 and the payload 1904 may each further include a communication module for communicating with the terminal 1912 so that the terminal can independently communicate with and control each of the mobile object 1900, the carrier 1902 and the payload 1904.

[0167] In some embodiments, movable object 1900 can be used to communicate with another remote device in addition to terminal 1912, or in place of terminal 1912. Terminal 1912 can also be used to communicate with another remote device as well as movable object 1900. For example, movable object 1900 and / or terminal 1912 can communicate with another movable object or a carrier or payload of another movable object. If desired, the remote device can be a second terminal or other computing device (e.g., a computer, laptop, tablet, smartphone, or other mobile device). The remote device can be used to transmit data to movable object 1900, receive data from movable object 1900, transmit data to terminal 1912, and / or receive data from terminal 1912. Optionally, the remote device can be connected to the Internet or other telecommunications network so that data received from movable object 1900 and / or terminal 1912 can be uploaded to a website or server.

[0168] Figure 20 FIG2 is a schematic diagram of a system 2000 for controlling a movable object, shown as a block diagram, according to an embodiment. System 2000 can be used in combination with any suitable embodiment of the systems, devices, and methods disclosed herein. System 2000 may include a sensing module 2002, a processing unit 2004, a non-transitory computer-readable medium 2006, a control module 2008, and a communication module 2010.

[0169] The sensing module 2002 can utilize different types of sensors that collect information related to the movable object in different ways. Different types of sensors can sense different types of signals or signals from different sources. For example, the sensor may include an inertial sensor, a global positioning system sensor, a distance sensor (e.g., a lidar), or a visual / image sensor (e.g., a camera). The sensing module 2002 is operably connected to a processing unit 2004 having multiple processors. In some embodiments, the sensing module is operably connected to a transmission module 2012 (e.g., a Wi-Fi image transmission module), which is used to directly transmit the sensing data to a suitable external device or system. For example, the transmission module 2012 can be used to transmit an image captured by the camera of the sensing module 2002 to a remote terminal.

[0170] The processing unit 2004 may have one or more processors, such as a programmable processor (e.g., a central processing unit (CPU)). The processing unit 2004 may be operably connected to a non-transitory computer-readable medium 2006. The non-transitory computer-readable medium 2006 may store logic, code, and / or program instructions that are executable by the processor 2004 to perform one or more steps. The non-transitory computer-readable medium may include one or more memory units (e.g., removable media or external memory, such as an SD card or random access memory (RAM)). In some embodiments, data from the sensing module 2002 may be directly transmitted to and stored in the memory unit of the non-transitory computer-readable medium 2006. The memory unit of the non-transitory computer-readable medium 2006 may store logic, code, and / or program instructions that are executed by the processing unit 2004 to implement any suitable embodiment of the method described herein. For example, the processing unit 2004 may be used to execute instructions, thereby causing one or more processors of the processing unit 2004 to analyze the sensed data generated by the sensing module. The memory unit can store sensing data from the sensing module to be processed by the processing unit 2004. In some embodiments, the memory unit of the non-transitory computer-readable medium 2006 can be used to store processing results generated by the processing unit 2004.

[0171] In some embodiments, the processing unit 2004 may be operatively connected to a control module 2008, which may be configured to control the state of the movable object. For example, the control module 2008 may be configured to control the propulsion mechanism of the movable object to adjust the spatial position, velocity, and / or speed of the movable object in six degrees of freedom. Alternatively, or in combination, the control module 2008 may control one or more of the states of the carrier, the payload, or the sensing module.

[0172] The processing unit 2004 is operably connected to a communication module 2010, which is used to transmit and / or receive data from one or more external devices (e.g., a terminal, display device, or other remote control). Any suitable communication method can be used, such as wired communication or wireless communication. For example, the communication module 2010 can utilize one or more of the following: a local area network (LAN), a wide area network (WAN), infrared, radio, WiFi, a peer-to-peer (P2P) network, a telecommunications network, cloud communication, and the like. Optionally, a relay station such as a tower, satellite, or mobile station can be used. Wireless communication can be distance-dependent or distance-independent. In some embodiments, line of sight may or may not be required for communication. The communication module 2010 can transmit and / or receive one or more of the following: sensor data from the sensing module 2002, processing results generated by the processing unit 2004, predetermined control data from the terminal or remote control, user commands, and the like.

[0173] The components of system 2000 may be arranged in any suitable configuration. For example, one or more components of system 2000 may be located on a movable object, a carrier, a vehicle, a terminal, a sensing system, or an external device that communicates with one or more of the above components. Figure 20 A single processing unit 2004 and a single non-transitory computer-readable medium 2006 are depicted, but those skilled in the art will appreciate that the depiction is not intended to be limiting, and that the system 2000 may include multiple processing units and / or multiple non-transitory computer-readable media. In some embodiments, one or more of the multiple processing units and / or multiple non-transitory computer-readable media may be located at different locations, such as on a movable object, a carrier, a mount, a terminal, a sensing module, an additional external device that communicates with one or more of the aforementioned components, or any combination thereof, such that any appropriate aspects of the processing and / or memory functions performed by the system 2000 can occur at one or more of the aforementioned locations.

[0174] Although preferred embodiments of the present invention have been described herein, it will be apparent to those skilled in the art that these embodiments are provided by way of example only. Numerous variations, changes, and substitutions may occur to those skilled in the art without departing from the present invention. It should be understood that various alternatives to the embodiments of the present invention described herein may be used in practicing the present invention. It is intended that the following claims define the scope of the present invention, and that methods and structures within the scope of these claims and their equivalents are encompassed herein.

Claims

1. An aircraft energy supply station, wherein: The energy supply station has an aircraft landing area, characterized in that: The aircraft landing area includes a visible mark for assisting the aircraft in landing, and the aircraft identifies the aircraft landing area by sensing the visible mark, wherein the visible mark serves as a reference mark to indicate the direction of the aircraft energy supply station relative to the aircraft, so that the aircraft can correctly determine its own direction when landing on the aircraft energy supply station; the energy supply station includes an onboard power supply, wherein the onboard power supply is used to provide power to the aircraft when the battery is removed from the aircraft.

2. The aircraft energy supply station according to claim 1, characterized in that: The visible marker is located at a specific location of a desired landing point on the aircraft landing area.

3. The aircraft energy supply station according to claim 2, characterized in that: There are multiple visible markers, and the desired landing point is located between the multiple visible markers. The aircraft uses the multiple visible markers to determine and / or locate the landing point of the aircraft between the multiple visible markers.

4. The aircraft energy supply station according to claim 3, characterized in that: The distance between the visible markers is used to help the aircraft determine the distance from the aircraft to the landing area.

5. The aircraft energy supply station according to any one of claims 1 to 4, characterized in that: The aircraft energy supply station has a positioning unit capable of determining its own position information and sending the position information to the aircraft. The aircraft uses a global positioning system to find the position of the energy supply station and arrives near the energy supply station.

6. The aircraft energy supply station according to any one of claims 1 to 4, characterized in that: The aircraft energy supply station measures the remaining power of the aircraft's battery when the aircraft lands in the aircraft landing area.

7. The aircraft energy supply station according to any one of claims 1 to 4, characterized in that: The aircraft energy supply station is a battery replacement station or a battery recharging station for the aircraft.

8. The aircraft energy supply station according to any one of claims 1 to 4, characterized in that: The visible markings include visible raised patterns, recessed patterns, decals, one-dimensional, two-dimensional or three-dimensional bar codes or lights.

9. The aircraft energy supply station according to any one of claims 1 to 4, characterized in that: The aircraft energy supply station communicates with the aircraft to obtain the remaining power of the battery currently onboard the aircraft. The aircraft energy supply station includes a processor on the energy supply station, and the processor on the energy supply station is configured to: determining a distance to a next aircraft energy supply station in the aircraft's flight path; The remaining power and distance determine whether the aircraft should stop to recharge or continue flying to the next energy supply station.

10. The aircraft energy supply station according to any one of claims 1 to 4, characterized in that: Also included is a robotic arm for removing a depleted battery from the aircraft and installing a charged battery in the aircraft.

Images