Drones and systems for controlling drones

Abstract

A lightweight, pocket-sized unmanned aerial vehicle (UAV) can be held in the outstretched palm of a user for takeoff and landing. The UAV includes a semi-annular or substantially annular hollow body defining a passageway. The UAV also includes a motor for rotating a fan that directs air into or out of the passageway to achieve takeoff. The UAV includes a flight control system comprising at least two flight control surfaces that can guide and modify the airflow as it passes through the passageway to control the UAV's roll, pitch, and optionally yaw during flight. The flight control system can be controlled by a microprocessor controller. The UAV also includes a payload configured with at least one wireless transmitting and receiving unit.

Description

[0001] This application is a divisional application of PCT application PCT / CA2017 / 050940, which has entered the Chinese national phase and has application number 2017800618646, application date August 8, 2017, invention title "Unmanned Aerial Vehicle and System for Controlling Unmanned Aerial Vehicle", and priority date August 8, 2016. Technical Field

[0002] This invention relates to the field of aircraft. The apparatus of this invention particularly relates to a drone for carrying a payload, the drone being designed to be stored in a user's pocket and to be launched and landed from a surface such as a user's outstretched hand or a mounting unit. Background Technology

[0003] Unmanned aerial vehicles (UAVs) perform a variety of missions, including military air surveillance, civilian and commercial purposes.

[0004] US Patent 4,795,111, granted to Moeller, describes a vertical takeoff and landing (VTOL) type UAV employing a single propeller to direct gas through a single channel to create lift. The single channel has multiple blades and spoilers that work together to control the UAV's flight path. At least as Moeller describes, the spoilers are positioned within the single channel, which reduces airflow through it and decreases the UAV's lift capability. Additionally, Moeller describes an engine requiring a fuel tank to be carried on the UAV.

[0005] US Patent 5,152,478, granted to Cai Kang et al., describes another VTOL UAV with a single channel defined by a ring fuselage. This UAV has pairs of counter-rotating blades that guide air through the single channel to generate lift. The UAV's flight path is controlled by the total pitch and periodic pitch of the counter-rotating blades. Cai Kang also describes fuel tanks oriented in the diametrical direction within the ring fuselage.

[0006] Still granted to Moller, US6,450,445 describes another type of VTOL UAV that employs a pair of counter-rotating blades that guide air through a single channel to generate lift. The UAV's flight path is controlled by a slotted air deflector assembly positioned at the output end of the channel to collect and redirect a portion of the guide air.

[0007] These known UAVs all require components that increase the overall mass and size of the UAV, such as fuel tanks or exposed deflection components. Summary of the Invention

[0008] Embodiments of the present invention relate to a drone (UAV) that is small enough for a user to store in their clothing pocket, wallet, or handbag. The UAV is also lightweight and secure enough to allow a user to hold it in their outstretched hand for takeoff and landing. Further embodiments of the invention relate to a multi-functional image capture kit including a UAV.

[0009] Embodiments of the present invention relate to a UAV comprising a body defining a channel for generating airflow thrust therethrough. The UAV also includes at least one fan for directing airflow into a first end of the channel and outward from a second end opposite the first end. This directed airflow creates a reaction thrust to enable the UAV to take off and land substantially vertically. The UAV also includes a flight control system comprising at least two flight control surfaces capable of independently or jointly altering the direction, pressure, and velocity of the directed airflow through the channel. The flight control system further includes actuators operatively connected to each flight control surface to control the position of each flight control surface within the intermediate channel. The position of each flight control surface can be used to control one or more of the UAV's yaw, roll, and pitch during flight. The actuators can be controlled by one or more pre-programmed algorithms, artificial intelligence, remote users, or a combination thereof. The body of the UAV may also be hollow and include a load that may include one or more of various electronic components, such as wireless transmitting and receiving units, cameras, positioning devices, and sensors.

[0010] The flight of the UAV can be controlled at least partially by a user-handheld electronic device. For example, the user-handheld electronic device may have an interactive software application that can be used to operate and control the UAV. By interacting with the software application and one or more handheld devices with varying communication capabilities, the user can send commands to the UAV and receive information from the UAV. For example, the user can receive telemetry information about the UAV's location or images or image streams in the form of live footage captured by the UAV's cameras (which can be viewed in real time on the user's handheld device). The user can then command the camera to capture at least one digital image, such as a picture or video, which can be stored on the UAV and / or on an external and remote server and / or on the handheld device, or a combination thereof. Optionally, the user can also command the UAV to change its aerial position relative to its current location, the handheld device, or certain other external landmarks to change the images the UAV can capture. Once the user has captured all the desired images, the user can then command the UAV to return and land in the user's hand. The user can then store the UAV in their clothing pocket, wallet, or handbag until the next flight and store one or more captured images.

[0011] Some embodiments of the present invention relate to a mounting device for detachably engaging a UAV to safely store and transport the UAV when it is not in flight. The mounting device may include a supplemental power supply for delivering electrical energy to the UAV. Optionally, a camera or other device may be activated to capture images or collect data when the UAV is engaged with the mounting device. The captured data may be stored on the UAV, within or outside the mounting device, on a remote server, or on any other external device such as a smartphone, tablet, or computer.

[0012] Some embodiments of the present invention relate to a UAV that can be used in one or more security applications. For example, a sensor located on or at a location remote from the UAV can be activated, and the UAV can then be activated. The sensor can be of any type that detects changes in the environment near the sensor that indicate the presence of an intruder. The presence of any such intruder in the monitored environment can activate the sensor. Examples of such sensors include, but are not limited to, passive detectors, infrared detectors, vibration detectors, ultrasonic detectors, continuous wave detectors, or combinations thereof. When the detector is triggered, the UAV receives an activation signal that activates the flight control system and causes the UAV to fly independently to the location of the triggering sensor or any other predetermined location. At the predetermined location, the UAV can scan, identify, track, and follow the source of the triggering sensor. The source can be an individual who triggered the sensor. The UAV can also reposition itself to approach the predetermined location to capture images of the sensor's local environment. The UAV can store digital files on its onboard memory, a remote server, a mounting device, or a combination thereof. The UAV can also send notifications and / or copies of digital images or live footage to a pre-selected email address, smartphone, computer network, or control center. The UAV can then be returned and reinstalled on the mounting device.

[0013] In another embodiment of the invention, a user can remotely operate the UAV to capture images of desired locations, such as the exterior or interior of a building. This embodiment can be used for surveillance in public spaces such as airports, shopping malls, and sporting events. Optionally, the UAV may incorporate an algorithm capable of analyzing images captured onboard the UAV or on an external remote server and detecting any security vulnerabilities or any other desired tasks, such as facial recognition. The analysis software can send notifications to security personnel upon detecting a security vulnerability or any other triggering event.

[0014] In another embodiment of the invention, first responders or soldiers can remotely operate a UAV to capture data from a building in emergency situations such as fires or hostage rescues. The UAV can also operate independently with the aid of artificial intelligence and machine learning to generate 3D maps of the building's interior and inspect each room with the help of cameras and sensors (e.g., infrared sensors) to ensure no living beings are trapped inside. If life is detected, information is transmitted to electronic devices that may include a 3D map of the fastest path a first responder can follow to approach the victim.

[0015] In another embodiment of the invention, a user can remotely operate the UAV to inspect sealed spaces such as air passages or pipework. The UAV can also operate independently with the aid of artificial intelligence and machine learning to perform path maintenance detection and inspection. The UAV may have a large number of onboard sensors and equipment, including cameras, to perform inspection and maintenance work. Optionally, the UAV may incorporate algorithms that analyze the data captured by the UAV and detect any leaks or hazards, notifying the user of their exact location and nature.

[0016] According to a broad aspect of the invention, an unmanned aerial vehicle (UAV) is provided, comprising: a generally annular body defining a channel having an upper end and a lower end opposite the upper end; an electronic controller housed within the body; at least one motor controlled by the controller; at least one fan located within the channel, operatively coupled to the at least one motor to rotate the at least one fan and generate an airflow entering from the upper end of the channel and exiting from the lower end of the channel to generate thrust; and a flight control system configured to receive commands from the controller; the flight control system including at least two flaps mounted on the body and configured to redirect airflow at the lower end of the channel, each of the at least two flaps being movable between a retracted position and an extended position, wherein each flap retracts into the body in the retracted position and extends out of the body and into a region of the channel adjacent to the lower end in the extended position, the flight control system being configured, based on the received commands, to move each of the at least two flaps between the retracted and extended positions to control the UAV's roll, pitch, or both during flight.

[0017] According to another broader aspect, a multi-functional image capture kit is also provided, comprising: a drone (UAV) including: a generally annular body defining a channel having an upper end and a lower end opposite said upper end; the height of said body being between about 15 and 60 mm, and the outer diameter being between about 50 and 150 mm; an electronic controller housed within said body; at least one motor controlled by said controller; at least one fan located within said channel, operatively coupled to said at least one motor, said motor for rotating said at least one fan and forming an entry from the upper end of the channel and Airflow exiting from the lower end of the channel to generate thrust; and a flight control system configured to receive commands from the controller, the flight control system including a flight control surface located on the body, the flight control surface being configured to redirect the airflow at the lower end of the channel to control the tumble and / or pitch of the UAV during flight; and a mounting device including: a UAV support surface configured to support the UAV on the mounting device; and a mounting surface connected to the UAV support surface and configured to support the mounting device on an object. Attached Figure Description

[0018] These and other features of the invention will become more readily understood in the following specific embodiments with reference to the accompanying drawings:

[0019] Figure 1 This is an exploded side view of a drone according to an embodiment of the present invention;

[0020] Figure 2 yes Figure 1 Top view of the UAV;

[0021] Figure 3 yes Figure 1 Side view of a UAV (flight configuration);

[0022] Figure 4 yes Figure 1 A bottom-view plan of the UAV;

[0023] Figure 5 is a view of a UAV, which is similar to... Figure 1 The UAV is shown in more detail; Figure 5A It passes through the entire body of the UAV and along Figure 5C Vertical section intercepted by centerline II; Figure 5B yes Figure 5A The flaps of the UAV extend 100% into the passageway; and Figure 5C This is a top-down plan view of the UAV, with the upper part of the main body removed to show the internal components;

[0024] Figure 6 is a cross-sectional side view of a portion of a UAV according to another embodiment of the present invention; Figure 6A The flaps of the UAV in the retracted position are shown. Figure 6B The flaps are shown in the first position; and Figure 6C The flaps are shown in the second position;

[0025] Figure 7 is a cross-sectional side view of a portion of a UAV according to another embodiment of the present invention; Figure 7A The flaps of the UAV in the retracted position are shown. Figure 7B The flaps are shown in the first position; and Figure 7C The flaps are shown in the second position;

[0026] Figure 8 shows computer simulations of flap insertion airflow from different UAVs, as confirmed by experiments. Figure 1 Examples of results from computational fluid dynamics analysis of a UAV; Figure 8A This shows the thrust vector when the flaps are inserted to 30%; Figure 8B The thrust vector is shown when the flaps are inserted at 60%. Figure 8C The thrust vector is shown when the flaps are 90% inserted;

[0027] Figure 9 This is an exploded side view schematic diagram of a UAV according to another embodiment of the present invention;

[0028] Figure 10 yes Figure 9 Top view of the UAV;

[0029] Figure 11 yes Figure 9 Side view of the UAV;

[0030] Figure 12 yes Figure 9 A bottom-view plan of the UAV;

[0031] Figure 13 This is an exploded side view schematic diagram of a UAV according to another embodiment of the present invention;

[0032] Figure 14 yes Figure 13 Top view of the UAV;

[0033] Figure 15 yes Figure 13 Side view of the UAV;

[0034] Figure 16 yes Figure 13 A bottom-view plan of the UAV;

[0035] Figure 17 This is an exploded side view schematic diagram of a UAV according to another embodiment of the present invention;

[0036] Figure 18 yes Figure 17 Top view of the UAV;

[0037] Figure 19 yes Figure 17 Side view of the UAV;

[0038] Figure 20 yes Figure 17 A bottom-view plan of the UAV;

[0039] Figure 21 This is a schematic diagram illustrating another embodiment of the present invention; Figure 21 A is an exploded, isometric view of the UAV and the installation station; Figure 21 B is an isometric view of the UAV docked at the docking station; and

[0040] Figure 22 This is a schematic diagram illustrating a logical process according to some embodiments of the present invention. Detailed Implementation

[0041] As used herein, the term “about” refers to a change of about + / - 10% from a given value. This should be understood as such change always being included within any given value provided herein, whether or not it is specifically mentioned.

[0042] Figure 1 Figures 5 to 5 illustrate one embodiment of the invention relating to a first unmanned aerial vehicle (UAV) 100. The first UAV 100 includes a fuselage that may be a single, integral construction or alternatively a multi-part construction. In some embodiments of the invention, the fuselage shape may be generally annular, semi-annular, or circular, with annular meaning circular. The fuselage may be annular about a central axis (sometimes referred to as the vertical axis x). In some embodiments of the invention, the fuselage includes at least two components, namely a first component 103 and a second component 104. When joined together, the first and second components 103, 104 define a substantially hollow cavity within the fuselage that extends circumferentially and is configured to accommodate the load of other components of the first UAV 100. The first and second components 103, 104 also define a continuous outer edge extending from the upper surface of the fuselage to the lateral surface to the lower surface and then in annular shape, with the body-forming component extending into an inner channel 101 coaxial with the axis x. The channel 101 connects the upper and lower surfaces of the fuselage to each other.

[0043] The fuselage can operate without external attachments, allowing the UAV to maintain a clear ring shape on its outer circumference even during flight, for example... Figure 3 As shown in the image.

[0044] The distance between the outer upper edge and the outer lower edge defines the height of the first UAV 100. In some embodiments of the invention, the height of the first UAV 100 may be from about 15 mm to about 60 mm. For clarity, 1 mm equals 0.1 cm, and 1 cm is approximately equal to 0.39 inches. In other embodiments of the invention, the height of the first UAV 100 may be from about 30 mm to about 40 mm.

[0045] The distance between two opposing and coplanar points further separated on the outer edge defines the width of the fuselage. The width of the first UAV 100 may also be collectively referred to herein as the outer diameter (OD) of the first UAV 100. The opposing points defining the fuselage width also define a horizontal plane pn of the first UAV 100, which extends orthogonally to the vertical axis x near the midpoint between the upper and lower surfaces. In some embodiments of the invention, the width of the first UAV 100 may be between about 50 mm and about 150 mm. In other embodiments of the invention, the width of the first UAV may be 80 to 100 mm or about 90 to 95 mm.

[0046] The width of the UAV can be uniform across the entire outer perimeter of the body, thus forming a perfectly circular outer edge shape in a plan view. Alternatively, as shown, the body can have a varying radial length, such as a body formed by changing the curvature of its outer surface along its perimeter in a plan view. For example, as... Figure 2 As shown, the curvature of the region along the outer edge of segment 104a differs from that along the outer edge of segment 104b. This varying radial length (and thus the varying outer curvature) strengthens the fuselage and allows for thinner body wall thicknesses even at a perfectly circular outer circumferential curvature (i.e., a consistent radial length).

[0047] As those skilled in the art will understand, the height and width of the first UAV 100 may vary within or beyond the specified range. This variation may depend on the intended use and the load that the first UAV 100 can carry. Preferably, the height and width of the first UAV 100 allow the user to carry it in their clothing pocket or accessory (such as a wallet or handbag) until the next flight and to capture one or more additional images. In other words, the first UAV 100 is compact and can be conveniently accommodated in a pocket. For example, the first UAV 100 can be conveniently accommodated in the back or front pocket of a pair of trousers, wherein the center height of the pocket is at least in the range of about 12.7 cm to about 16.5 cm, the side height is at least in the range of about 10.8 cm to about 14 cm, the upper width is about 12 cm to about 15.9 cm, and the lower width is about 10.2 cm to about 12.7 cm. Because many garments and accessories are made of textiles with at least a certain degree of flexibility, this, among other factors, allows for a wider range of pocket sizes that can accommodate the first UAV100. The first UAV100 can carry a load. This load may include any combination of components such as equipment, tools, sensors, etc.

[0048] In some embodiments of the invention, the load may include one or more power supplies 111, cameras 110 (such as digital or infrared cameras), accelerometers, gyroscopes, magnetometers, computing modules, barometers, Global Positioning System (GPS) devices, proximity sensors, sonar devices, avionics equipment, optical flow sensors, other positioning devices, and any combination thereof. Some or all of the components including the load may be located inside the hollow fuselage or carried thereon. Preferably, the load is arranged inside the hollow fuselage, so that there are minimal or no structural features extending from the outer surface of the fuselage.

[0049] Embodiments of the present invention relate to a UAV having a minimum size and thus a minimum mass. For example, the total mass of a first UAV 100 is in the range of about 30 grams to about 125 grams. In some embodiments of the invention, the total mass of the first UAV 100 is about 85 grams. As those skilled in the art will understand, the total mass of the first UAV 100 can vary depending on the specific size and the components including the load. Accordingly, the body is constructed of a lightweight but high-strength material, including but not limited to high-strength and lightweight polymers that may or may not be reinforced to increase strength. For example, the polymer may be reinforced by carbon fiber, glass fiber, or other such materials. Additionally, the load may include components that perform desired functions, such as capturing images, but without unnecessarily increasing the total mass of the UAV. The electronic components of the load may be located in the micrometer or nanometer range.

[0050] The cross-sectional shape of the fuselage can be selected for specific performance characteristics and aesthetics. For example, referring to Figure 5, the cross-sectional shape of the fuselage can be circular or non-circular, such as oval, or designed as an airfoil. The channel 101 can further define the cross-sectional shape of the fuselage. The first and second components 103, 104 also together define the channel 101, or alternatively as... Figure 1 The channel 101 shown may be defined by individual components positioned between or within the first and second components 103, 104. The channel 101 has an upper end, a lower end, and an inner wall surface extending between the two ends. The inner diameter (ID) of the channel is defined by the distance between two opposing points located on the inner wall surface of the channel 101. The ID of the channel 101 may also be referred to herein as the inner diameter (ID) of the first UAV 100. In some embodiments of the invention, the channel 101 has a generally circular cross-sectional shape in plan view with a substantially constant ID. For example, the ID of the channel may be between about 30 mm and about 90 mm. In some embodiments of the invention, the ID of the channel 101 may be about 60 mm. Alternatively, the ID of the channel 101 may be larger or smaller than each other at each end or relative to other portions of the channel 101. For example, the channel 101 may have a wider or narrower cross-section at either end or one end relative to other portions of the channel 101, as viewed from a side view.

[0051] In some embodiments of the invention, as shown in FIG5, the intermediate channel 101 may include a portion 101a with a larger diameter inner surface. The larger diameter portion 101a may be positioned adjacent to the lower surface of the body compared to other portions of the intermediate channel 101. Without being limited by any particular theory, this diffused intermediate channel 101 with its flared lower end 101a can enhance the thrust performance of the channel and the overall aerodynamic characteristics of the UAV. The intermediate channel may also include a larger diameter portion positioned at the apex to allow more airflow into the channel.

[0052] Channel 101 extends along axis x of a first UAV 100 orthogonal to the horizontal plane. In some embodiments of the invention, the first UAV 100 has a center of gravity along a vertical axis. This center of gravity may also be referred to herein as the center of mass. In some embodiments of the invention, the center of gravity of the UAV 100 may be located approximately at the midpoint between the outer upper edge and outer lower edge of channel 101 along the vertical axis. Alternatively, the center of gravity is closer to the upper portion of the UAV. In some embodiments of the invention, power supply 111 may be one of the heaviest components on the first UAV 100. Different positioning of power supply 111 will affect the desired position of the center of gravity. Optionally, one or more power supplies may be used. In some embodiments of the invention, two power supplies may be used to distribute mass and ensure that the center of gravity is along the vertical axis. Optionally, multiple components other than or supplementing power supply 111 may be similarly positioned within the UAV to achieve the desired position of the center of gravity.

[0053] The rotation of the first UAV 100 about its vertical axis can be called yaw. The upward movement of the UAV 100 along its vertical axis can be called ascent. The downward movement of the UAV 100 along its vertical axis can be called descent. Many of the movements of the first UAV 100 can preferably be defined by directions at least partially along the vertical axis, thus the first UAV 100 can be considered a vertical takeoff and landing (VTOL) UAV. The UAV takes off when the plane pn is substantially horizontal and the vertical axis x is substantially vertical. During flight, the UAV generally keeps the plane pn closer to horizontal than vertical.

[0054] The first UAV 100 may also include at least one motor 107 operatively coupled to at least one fan 108 to rotate the at least one fan 108. The at least one motor 107 and the at least one fan 108 are positioned within a channel 101. In some embodiments of the invention, the at least one motor 107 may be an electric motor, such as a brushless DC motor or a brushed motor, or any other type of motor that provides the required torque without adding excessive mass to the UAV 100. The at least one fan 108 may include one or more blades. Under the control of a flight control system (described in more detail below), the at least one motor 107 drives the at least one fan 108 to rotate about a vertical axis within the channel 101 to draw air in from the upper end of the channel 101 and expel air from the lower end of the channel 101. The drawing of air into the channel 101 and the expulsion of air from the lower end of the channel 101 may also be referred to herein as airflow within the channel 101. The airflow within the channel 101 creates a lift force that causes the first UAV 100 to move along its vertical axis. This lift force may also be referred to herein as thrust. The output of at least one motor 107 is adjusted to regulate the rotational speed of at least one fan 108, which in turn regulates the lift acting on the first UAV 100. In some embodiments of the invention, the at least one fan 108 may be one fan, two fans, or more than two fans. In other embodiments of the invention, the at least one fan 108 may be a first fan 108 and a second fan 109. The first and second fans 108, 109 may rotate in opposite directions, which may be referred to herein as counter-rotation. If two or more fans are present, the yaw of the first UAV 100 may be controlled by the different rotational speeds of the two or more fans.

[0055] The flight control system of the first UAV 100 includes at least one printed circuit board (PCB) 102, which includes one or more microprocessors, wireless transmitter-receiver (WTR) units, one or more electronic speed controllers, one or more inertial measurement units (IMUs), one or more sensors, or any combination thereof. The flight control system also includes at least two actuators 105 and at least two flight control surfaces 106. Under the command of at least two microprocessor controllers, the at least two actuators 105 cause the at least two flight control surfaces 106 to move within a channel 101 to regulate the hydrodynamics of the airflow drawn into and expelled from the channel 101. Regulating the hydrodynamics of the airflow within the channel 101 can be used to control the pitch and roll of the first UAV 100. The flight control system also controls the output of at least one motor 107 to control the rotational speed of at least one fan 108. In some embodiments of the invention, both the first fan 108 and the second fan 109 are operatively connected to the at least one motor 107. In other embodiments of the invention, at least one motor 107 may be accompanied by another motor 107', one of which is operatively connected to the first fan 108 and the other is operatively connected to the second fan 109.

[0056] like Figure 1 As shown, some embodiments of the invention relate to a flight control system having at least one microprocessor and three actuators 105, each operatively coupled to one of three flight control surfaces 106. Each actuator 105 may be an electrically driven and controlled servo motor operatively coupled to and moving a single flight control surface 106. The servo motor may be rotary or linear. The three flight control surfaces 106 may be circumferentially evenly distributed around a body and extend into the airflow relative to the channel. The flight control surfaces extend to influence the airflow through the channel between the fan 109 and a lower surface located below the center of gravity and generally below the horizontal plane p. It has been found that the greater the distance between the center of gravity and the flight control surfaces 106, the more control can be achieved by operating the surfaces 106. Figure 4 As shown in Figure 5, the flight control surface extends directly into the channel via a slot 115 within the inner surface of channel 101. In Figures 6 and 7, the flight control surface extends from slots 115′ and 115″ within the lower surface of the body and into the airflow from the channel. However, it will be understood in the plan view that in all these embodiments, the flight control surface extends into the channel region to particularly affect the airflow discharge through the channel, and the specification thus follows that “extends into the channel” means either directly into the channel or below the channel but extending into the airflow from the fan through the channel and generally into the planar region of the channel.

[0057] In response to a signal from at least one microprocessor, one or more actuators 105 alter the relative position of their associated flight control surfaces 106 with respect to the channel 101. Changing the position of one, two, or all three flight control surfaces 106 alters the hydrodynamics within the channel 101 by changing the direction, pressure, and velocity of the air flowing through it. Figure 1 In the embodiment of the invention shown in -5, each of the three flight control surfaces 106 is a retractable flap that can extend into the channel. Each flap 106 has a position where it is fully retracted from the surface curvature extending beyond the main body. Figure 5A Each flap is also configured to have an exhaust area extending from the main body into the access channel 101 to change the extension position of the airflow through the access channel 101. Figure 4 and 5B The relative position of each flap with respect to the passage and other flaps of the UAV controls the pitch, roll, or both of the first UAV100.

[0058] The flap 106 can be fully retracted into the main body, so that only the exposed portion of the flap is oriented substantially parallel to the main body (e.g., to the inward surface of the channel 101 or component 103). Figure 5A As shown, the flap is retractable, but its outer end 106' remains adjacent to the inward surface of the channel and in position filling the slot 115 (i.e., there is essentially no path into the body between the flap and the slot). The end 106' protrudes into the channel 101 but is substantially parallel to the curvature of the inward surface of the channel. The end 106' thus has a curve conforming to the curvature of the channel from one side to the other, so that the flap neither extends into nor retracts from the inward surface of the channel when fully retracted. This ensures that the flap does not interfere with airflow when fully retracted.

[0059] When operating in the exhaust fan, each flap 106 has a substantially fixed angle of attack. The fixed angle of attack provides good durability and allows the flap to extend fully into the airflow with relatively little force. All flaps of the UAV can have the same angle of attack. Typically, the angle will decrease, so that the outer end 106′ is farther from the fan 108 than from the slot end. In one embodiment, the flap is fixed at an angle of attack of approximately 20-70° with respect to the axis x. Figure 4 In the embodiments of Figure 5, for example, the flaps 106 are all guided by their slotted configuration to be held in the plane when extended into the effective position and during extension and retraction. Each slot 115 may, for example, be tilted to match the selected angle of attack of the flap and tightly surround the flap. Figure 5CAs shown, a linear guide 116 can be configured for each flap to limit its pivoting when the flap is in or out of the extended position. The linear guide can be located on each side of the flap within the fuselage to keep the flap traveling on a substantially linear path, thus maintaining a substantially constant angle of attack with respect to the airflow within the passage 101.

[0060] While each slot 115 tightly surrounds its flap 106 to ensure the flap is securely supported in the extended position, there may be surface treatments configured to reduce friction to ensure the flap moves smoothly into and out of its retracted position. For example, the slot may include surface treatments configured to reduce friction, such as raised surfaces, such as a release button, or a low-friction coating on which the flap rests.

[0061] The flat upper surface of the flap can be horizontal, concave, or convex. Figure 1-4 In one embodiment, the flap is horizontal from side to side. In the embodiment of FIG5, the flap 106 is concave from side to side, or in other words, has a downwardly curved central region, meaning that the edge in the guide rail 116 is closer to the fan relative to the midpoint of the flap. This concave curvature allows each flap to be positioned further downward within the channel away from the fan 109, which effectively increases the distance between the flap and the center of gravity, thereby enhancing control. In one embodiment, each flap has a uniform thickness over most of its area.

[0062] Flaps may include stops for controlling their movement to, for example, prevent the flaps from retracting excessively into the fuselage and to prevent the flaps from extending too far out of the fuselage. For example, each flap 106 may include an outer end retraction stop 117, which may be, for example, a return element or other addition on the outer end 106′ larger than the slot size. There may be a recess 117′ adjacent to the slot to receive the stop 117, so that the end 106′ can be stored parallel to the inward wall of the channel 101. Each flap may also have an extension stop 118 to prevent the flap from extending excessively into the channel.

[0063] The flaps can be driven from the retracted position to any of the extended positions. Each actuator 105 can independently drive its flaps from the retracted position through and into any of the multiple extended positions. These positions are referred to here as % extension. For example, 100% extension means that the flap's possible extension length is fully extended. Flaps extended by different amounts, from >0% to 100%, will have different effects on flight.

[0064] Because flaps 106 can be moved into a retracted position, they can be retracted for storage, which ensures they are protected from damage. When in the retracted position, the UAV is durable, aesthetically pleasing, and presents a very small overall volume for easy storage.

[0065] The flap can also be in a retracted position during flight. For example, during takeoff, the flight control surface 106 can retract into the hollow fuselage via slot 115. In this retracted position, the surface of channel 101 is substantially not in contact with any flight control surface that could alter the airflow characteristics. When the flap is fully retracted from channel 101, the airflow through channel 101 can be distributed substantially uniformly along the outer periphery of the lower edge of the channel. The substantially uniformly distributed airflow through channel 101 generates a reaction thrust through a series of actions acting along the vertical axis, producing a zero net moment around the center of mass of the first UAV 100 and along axis x, which in embodiments of the invention is close to or above plane p. This series of actions may also be referred to herein as the thrust vector. In some embodiments, the user preferably takes off at a less than true vertical angle (i.e., at an angle beyond approximately 90 degrees from the launch surface) or to compensate for wind, and one or more flight control surfaces 106 may then extend at least partially into the channel during takeoff.

[0066] During flight, configuring flaps 106 to extend into the exhaust channel creates a thrust vectoring effect. For example, the flight of the first UAV 100 can be altered by changing the airflow through channel 101, thus modifying the only vertical ascent. This modified airflow through channel 101 can be achieved by instructing one or more actuators 105 via a microprocessor to move their corresponding flaps 106 into the channel airflow. In some embodiments of the invention, microprocessor instructions may be attributed to direct input from a user or to sensor readouts from an inertial measurement unit (IMU), an optical flow sensor, any other sensor, or a combination thereof.

[0067] The microprocessor can generate pitch and roll moments by moving flaps into and out of channel 101 to deflect the thrust vector so that it does not cross the center of mass of the first UAV. For example, flaps can extend into channel 101 and airflow passes through channel 101 and moves along the extended flap toward the lower edge. This disrupts the uniform distribution of airflow leaving channel 101, thereby shifting the thrust vector away from the vehicle's center of mass, which generates torque around the center of mass. To ensure rapid response, actuator 105 can generate a driving force to move the flaps from the fully deployed position to the fully retracted position within one second, and possibly within a tenth of a second.

[0068] Figure 8 shows, out of scale, a summary of computational fluid dynamics (CFD) results of the forces acting on the first UAV 100 when a flight control surface 106 extends into the channel 101. Figure 8A This illustrates the effect on the thrust vector when the flap extends approximately 30% of its possible length into the thrust flow. Figure 8BThis illustrates the effect on the thrust vector when the flap extends approximately 60% of its possible length into the thrust flow. Figure 8C This illustrates the effect on the thrust vector when the flap extends approximately 90% of its possible length into the thrust flow. The torque about the center of mass is shown as "arrow M". Fluent software (ANSYS is a registered trademark of SASIP Inc. of WY, Cheyenne, USA) is used for CFD simulation.

[0069] Flight and wind tunnel tests on the first UAV100 confirmed the CFD analysis. The flap is used to change the direction of the thrust airflow, thereby controlling the angular velocity of the first UAV100. This change in airflow direction allows the UAV to rotate away from the engaged flap, as shown in Figure 8. Using one or more flaps to control the UAV in the pitch or roll direction enables changes in direction, steering, controlled flight, and correction of disturbances caused by external forces such as wind. The magnitude of the moment depends on the amount of flap extension into the airflow and the position of the UAV's center of gravity. Figure 8 shows how the horizontal component of the thrust vector changes with the flap from... Figure 8A The extension of 30% to Figure 8C The extension of the middle increases by 90%.

[0070] To illustrate how to program a control surface to control a UAV, for example... Figure 5C The pitch axis P is shown, which lies in the horizontal plane and intersects the vertical axis, passing through the center line of the projection of flap 106a onto the horizontal plane. The roll axis R is also shown, which lies in the horizontal plane and intersects the vertical axis, and is orthogonal to the pitch axis P. To generate a roll moment, flap 106a extends into channel 101 as instructed. To generate a roll moment in the opposite direction, flaps 106b and 106c both extend into channel 101 as instructed.

[0071] To generate a pitch moment, flap 106b or flap 106c extends into channel 101 according to a desired orientation as instructed. Notably, flaps 106b and 106c also generate a small roll moment associated with the desired pitch moment, which the control system is designed to counteract and neutralize. It is also noteworthy that the roll moment generated when both flaps 106b and 106c are extended is greater than the moment generated when only flap 106b is extended with the same extension. Similarly, the moment generated by flap 106a during roll is greater than the pitch moment generated by flaps 106b or 106c during pitch. The control system counteracts this asymmetric effect of the flaps. One way to overcome this asymmetry is to use four flaps instead of just three, where each of the four flaps will be responsible for either pitch or roll in one direction.

[0072] Alternatively, the UAV may employ more than two axes. For example, one way to achieve this is by defining three axes, each located in a horizontal plane, each axis passing through the vertical axis and the center line of the projection of each control surface 106 onto the horizontal plane. The control system then assigns each control surface to generate torque around one of the axes, with two opposing control surfaces responsible for generating torque in opposite directions.

[0073] Figure 6 illustrates another embodiment of the invention relating to another UAV 100′, which has a control system including one or more retractable flaps 106′ positioned at or below the lower edge of channel 101′ to change the thrust generated through channel 101′ thereby controlling the pitch, roll or both of UAV 100′.

[0074] UAV 100' includes one or more flight control surface flaps 106' acting on the thrust airflow generated through the intermediate channel 101'. Each flap 106' is movable in a plane and can provide a substantially consistent angle of attack for entering the thrust airflow at a location at or below the outer lower edge of the UAV 100'. As described above, the greater the distance between the flap and the center of gravity, the greater the generated torque. A larger torque allows for more control to stabilize and maneuver the UAV 100'. Thus, arrangements where the flaps extend outward near the second end of the channel or extend from the lower surface can provide some advantages for control. The control methods of these embodiments are very similar to those of UAV 100. Figure 1-5C ), which has been explained in detail above.

[0075] Figure 6 illustrates one embodiment of the invention relating to UAV 100'. Only a partial section of the outer lower edge of the channel 101' is shown, having flaps 106'a that extend through the slot 115' and can be positioned, for example, in a retracted position inside the main body of UAV 100'. Figure 6A ), the first extension position of the incident ( Figure 6B In this position, the flap 106′a disrupts the thrust airflow at or below its outer lower edge, and in the second extended position ( Figure 5C In this position, flap 106′a extends further into the thrust flow than in the first position. It should be noted that the first position is illustrative only and is not intended to represent the only flap 106′a position causing minimal disturbance to the thrust flow. Similarly, the second position is illustrative and is not intended to represent the only flap position causing maximum disturbance to the thrust flow. Ignoring the position of flap 106′a in the thrust flow, the angle of attack of the flap remains unchanged. In this embodiment, flap 106′a may extend inside the fuselage and be located below the exit of the passage of UAV 100′ through an opening in the fuselage, such as slot 115′.

[0076] Figure 7 illustrates another embodiment of the invention involving another UAV 100″. The same reference numerals may be used to denote this embodiment as those used to denote the embodiment shown in Figure 6. In the embodiment shown in Figure 7, the flap 106′b may extend to various positions in the thrust flow (compare). Figure 7A , Figure 7B and Figure 7C The flaps can maintain an angle of attack substantially consistent with the thrust airflow during movement, or they can have a varying angle of attack. The main difference between this embodiment and the embodiment shown in Figure 6 is that the flaps 106′b more significantly contribute to forming a portion of the fuselage. Specifically, the flaps 106′b form part of the outer shell 103′ of the main body of UAV 100″. When the flaps 106′b are fully retracted into the slot 115″, they are parallel to the fuselage curvature in the retracted position. Specifically, the flaps 106′b are positioned to substantially overlap with the outer surface of UAV 100″. If desired, the flaps 106′b can extend at least partially from the fully retracted position to serve as a landing gear for UAV 100″.

[0077] Figures 9 to 12 Another embodiment of the invention relating to a second UAV 200 is shown. Alternatives to the UAV 200 are included to show that the body may accommodate other types of flight control surfaces in addition to the preferred retractable flap 106. As will be understood, the main difference between the first UAV 100 and the second UAV 200 is that the flight control surfaces of the second UAV 200 are permanently mounted variable-angle blades fully exposed within the channel 101, and not retractable flaps. The second UAV 200 may also have a single fan 108, since at least two blades 206 can be configured to control yaw. Unless otherwise specified, Figures 9 to 12 The reference numerals used in the figures are the same as those in the figures. Figures 1 to 4 The same reference numerals are used in the accompanying drawings.

[0078] Blade 206 can be vertically positioned within channel 101 adjacent to the surface of channel 101 and is always within the airflow. Blade 206 can rotate about the horizontal plane of the second UAV 200. Rotating one or more of the three blades 206 alters the airflow through channel 101 to control the yaw, pitch, and roll of the second UAV 200.

[0079] Figures 13 to 16Another embodiment of the invention with respect to a third UAV 300 is shown. The second UAV 200 and the third UAV 300 are similar in that they include control surfaces 206 and 306 permanently exposed within the channel. Similar to the blades 206 in the second UAV 200, the control surface 306, as a vertical louver, cannot be retracted and has no fixed angle of attack. Unless otherwise mentioned, in Figures 13 to 16 The reference numerals used in the figures are the same as those in the figures. Figures 1 to 4 The reference numerals used in the figures are similar.

[0080] The vertical louver 306 is vertically positioned within the channel 101 adjacent to the surface of the channel 101. The louver 306 can rotate about a horizontal axis or another axis substantially parallel to the horizontal plane of the third UAV 300. Rotating one or more of the three louvers 306 alters the airflow through the channel 101 to control the yaw, pitch, and roll of the third UAV 300.

[0081] While UAV′200 and 300 are described as having an advantageous body shape that can be used with other flight control surfaces, the flaps 106, 106′a and 106′b of UAV100, 100′ and 100″ offer advantages over blades / louvers with permanent exposure in terms of simplicity, minimization of size, safety and durability.

[0082] Figures 17 to 20 Another embodiment of the invention with respect to a fourth UAV 400 is shown. The UAV 400 employs control weights 406 instead of flight control surfaces for control. These control weights 406 are made of a material with a high relative density (such as metal) and their size, shape, and weight are varied according to the overall size and weight of the UAV 400. Unless otherwise specified, in Figures 17 to 20 The reference numerals used in the accompanying drawings are the same as those in the drawings. Figures 1 to 4 The methods used are essentially the same. During roughly vertical takeoff, the counterweight is positioned such that its center of gravity is along the vertical axis of the UAV400. The flight of the UAV400 can be achieved by changing the position of its center of gravity, solely through changes in vertical lift, thereby shifting the center of gravity away from axis x, causing rotation, and thus causing the UAV to translate along the new direction of the center of gravity. Changing the position of the center of gravity can be achieved by a microprocessor instructing one or more actuators 405 to move the corresponding control counterweight 406. This actuator can be linear or rotary.

[0083] As mentioned above, UAVs 100, 100′, 100″, 200, 300, and 400 may each have a second fan 109 also located within channel 101 and rotating in the opposite direction to fan 108. Alternatively, UAVs 100, 100′, 100″, 200, 300, and 400 may have a second motor 107′ for rotating the second fan 109. Rotating the first and second fans 108 and 109 at different speeds can also be used to adjust yaw. Additionally, the presence of two fans operating on one or both motors 107, 107' for UAVs 100, 100', 100'', 200, 300, and 400 provides additional thrust and redundancy to mitigate the risk of an uncontrolled fall due to the failure of one fan 108 or 109 or one motor 107 or 107'. In some embodiments of the invention, the flight-control system 102 can enter a fail-safe mode to enable a soft landing of the UAV if one fan or motor fails to operate, thereby avoiding a hard impact and potential damage to life, property, and the UAV itself.

[0084] Figure 21 Another embodiment of the invention relating to a mounting device 500 is shown, which is suitable for detachably mounting any one of the first, second, third, or fourth UAVs 100, 100′, 100″, 200, 300, 400.

[0085] Because the UAV is so small and can accommodate position sensors, cameras, and other devices with a wide range of positioning and recording applications, it can be easily used in multi-functional image capture kits for recording, monitoring, and guidance, in addition to flight applications. This allows for the provision of a mounting device to support the UAV in a fixed position, while the mounting device 500 is supported on or connected to another surface. The mounting device 500 has a UAV support surface 502 configured to support and releasably engage and connect UAVs 100, 100′, 100″, 200, 300, and 400 to the mounting device 500. The UAV support surface may have an annular groove 503a having approximately the same outer diameter as the UAV to secure it and prevent lateral displacement. Alternatively or additionally, the support surface 502 may include one or more connectors 503b for releasably engaging the UAV. The UAV can thus be securely fixed to the mounting device by the connectors, but can be detached by applying force or actuating a release mechanism. The connectors 503b may include, for example, clips, strips, magnets, pins, fasteners, or other devices.

[0086] The mounting device 500 also has a mounting surface 504 connected to the UAV support surface. This mounting surface 504 is configured to support and may engage and connect the mounting device 500 to another object. For example, the mounting surface 504 may define one or more support structures, such as legs or connecting structures, such as a suction cup or a mounting flange with openings 505, each opening 505 for temporarily or permanently securing the mounting device to the object. For example, a connector 505a can be secured through the opening and connected to another object. The connector may include an object such as a strip configured with adjustable mechanisms, fasteners (i.e., screws, pins, coil rivets), clamps, etc. The other object is not limited to, but may include: (i) the user's clothing, such as accessories, such as hats, wristbands, or headbands; (ii) the user's sports equipment, such as helmets or shoulder pads; or (iii) the user's vehicle, such as a car, motorcycle, or boat. The other object may even be an interior or exterior surface of a building, such as a windowsill.

[0087] Although the mounting device 500 is simply shown as a plate, in some embodiments of the invention, the mounting device may be configured to detachably engage a support element, such as a bicycle frame, bicycle seat, bicycle seat post, or handlebar. Such a mounting device can detachably engage other types of support elements that can be held by a user, attached to a user, or mounted on equipment used by the user. Suitable support elements may be, for example, extendable / retractable rods, extendable / retractable scissor braces, and frame engagement brackets, such as those used for mounting... (GOPRO is a registered trademark of GoPro Inc., San Mateo, California, USA) Camera mount.

[0088] Some components of the payload (including sensors and / or camera 110) can operate when UAVs 100, 100', 100'', 200, 300, or 400 are mounted. In some embodiments of the invention, the mounted UAVs 100, 100', 100'', 200, 300, or 400 can collect data, which may include images and videos. As discussed further below, the collected data may be stored on the UAV, on a storage component of the mounting device, or transmitted to an external device.

[0089] In some embodiments of the invention, the placement device 500 further includes a supplementary power supply 506. This supplementary power supply 506 can be directly connected to a power outlet and charged using energy transferred to the engaged and connected UAVs 100, 100', 100'', 200, 300, 400. The transfer of electrical energy can be achieved through direct or indirect connections, such as physical connections between conductors or indirect connections via inductive energy transfer mechanisms. In some embodiments, one or more connectors 503b also function as conductors to transfer recharged electrical energy to the UAVs.

[0090] In other embodiments of the invention, the placement device 500 has a surface 502, but no conductors physically connecting the UAVs 100, 100′, 100″, 200, 300, and 400. Alternatively, the UAVs 100, 100′, 100″, 200, 300, and 400 will abut against the surface 502 near the supplemental power source 506 for wireless charging. In these embodiments of the invention, the placement device 500 has a battery, or can be directly connected to a power outlet, and may also have a flat surface to sit on top of another substantially flat surface (such as a piece of furniture or a component of another structure, such as a windowsill or floor).

[0091] It will thus be understood that the UAV can thus have expanded practicality and value by being constructed to function as a safety monitor, dashboard camera, main camera, personal location determination device, etc., when not in flight, together with the placement device.

[0092] In some embodiments of the present invention, the fuselage of UAV100, 100′, 100″, 200, 300, and 400 may further include, for example: Figure 5A The shield 119 shown supports a motor and prevents foreign objects from entering the channel 101, which could interfere with the rotational movement of the fan 108 within the channel 101. The shield may be located on one or both of the outer upper and outer lower surfaces. The shield may be made of rods that are substantially radial, cross-shaped, or any other shape. These rods may be circular, rectangular, or any other shape. In some embodiments, they are teardrop-shaped to minimize drag, such as... Figure 5A As shown.

[0093] In some embodiments of the present invention, the UAVs 100, 100′, 100″, 200, 300, and 400 can be controlled by direct user input using any electronic device capable of wireless communication, including but not limited to radio, Bluetooth, Wi-Fi, cellular, and combinations thereof. For example, the electronic device may be a handheld device, including but not limited to smartphones, radio controllers, tablets, laptops, and combinations thereof.

[0094] In some embodiments of the invention, the UAVs 100, 100′, 100″, 200, 300, and 400 include a WTR unit for communication between a microprocessor controller and electronic devices. For example, the WTR unit may receive commands from the electronic devices and transmit those commands to the microprocessor controller. The WTR unit may also receive information from the microprocessor controller or other components of the payload and transmit that information to the electronic devices. In some embodiments of the invention, the microprocessor controller may also autonomously control the flight control system of the UAVs 100, 100′, 100″, 200, 300, and 400 using artificial intelligence, software algorithms, and / or input from external sensors, without requiring commands from the electronic devices, i.e., without user input. Optionally, sensors and / or image arrays captured by onboard cameras may be used to assist autonomous flight by providing obstacle detection, facial recognition, shape detection, target following, and other capabilities.

[0095] Users can control UAVs 100, 100', 100'', 200, 300, and 400 through a graphical user interface (GUI) generated by a software application operating on an electronic device. Alternatively, users can use simple and intuitive controls or gestures, such as up / down and left / right, zoom in / out, instead of traditional deceleration, pitch, roll, and yaw controls, to control the position of UAVs 100, 100', 100'', 200, 300, and 400. In other embodiments of the invention, users can use conventional controls via the GUI and software application.

[0096] Some embodiments of the present invention relate to methods of operating a UAV. Figure 22The logical process of one method of operating a UAV is illustrated. For example, the method includes operating UAVs 100, 100', 100'', 200, 300, and 400 using a software application installed on an electronic device (preferably a handheld electronic control device). According to this method, after charging the UAVs and control device, the user can communicate with the UAVs 100, 100', 100'', 200, 300, and 400 via electrical communication through the electronic device. Preferably, this electrical communication is radio communication, which occurs through a WTR unit that serves as a portion of the load. The user can establish a communication connection between the electronic device and the microprocessor controller of the UAVs 100, 100'', 100'', 200, 300, and 400. Once the communication connection is established, the user can interact with the UAVs 100, 100'', 100''', 200, 300, and 400 using a GUI. For example, a user might want to capture one or more images or videos using UAV100, 100′, 100″, 200, 300, or 400. When using a GUI, the user selects the desired image or video mode, and the electronic device transmits this as a command to the microprocessor controller of the UAV100, 100′, 100″, 200, 300, or 400. Alternatively, this capture mode can also be selected using controls on the UAV itself.

[0097] Flight commands can be executed to reposition the UAV. For example, the UAV microprocessor can also receive information from electronics via a button located on the UAV, and initiate the takeoff process by sending a takeoff command to the flight control system 102. The takeoff command may include activating at least one of one or more motors 107, 107' and activating one or more actuators 105. The UAVs 100, 100', 100'', 200, 300, 400 will then take off and fly to a predetermined position corresponding to the capture mode selected by the user. Non-limiting examples of image modes include "selfie" mode, bird's-eye view mode, panoramic shooting mode, aerial image mode, 360-degree image mode, thermal imaging mode, etc.

[0098] The microprocessor controller will employ one or more of the following: proximity sensors, IMU, GPS, sonar, or any other positioning devices as part of the load, to determine when UAVs 100, 100′, 100″, 200, 300, and 400 have reached a predetermined position. Once at the predetermined position, the microprocessor controller can send a notification to the user that the predetermined position has been reached. The microprocessor will periodically employ the positioning devices to ensure that UAVs 100, 100′, 100″, 200, 300, and 400 have not deviated from the predetermined position or route. The microprocessor will receive or request further information from the positioning device that UAVs 100, 100′, 100″, 200, 300, and 400 have not deviated from their predetermined positions. This further information may be provided at predetermined intervals, such as every 10 milliseconds or less, and may be provided to the microprocessor controller substantially continuously. If the further information regarding position indicates to the microprocessor controller that UAVs 100, 100′, 100″, 200, 300, and 400 have deviated from their predetermined positions by a threshold amount, then the microprocessor controller will activate and send a signal to the flight control system 102. The command is to move UAVs 100, 100′, 100″, 200, 300, and 400 back to a predetermined position by adjusting the airflow through channel 101, adjusting the position of one or more flight control surfaces 106, 206, and 306 or the control weight 406, or adjusting the rotational speed of one or more motors 107 and 107′ to better maintain the predetermined position. This threshold can be approximately 10% to 50% of the width of UAVs 100, 100′, 100″, 200, 300, and 400, or any other amount that substantially alters the camera's field of view and the image captured by the camera.

[0099] When UAV100, 100′, 100″, 200, 300, and 400 are in their predetermined positions, the microprocessor will initiate a hover command to attempt to stabilize them in those positions. Optionally, the microprocessor will also initiate a camera stabilization command to the camera gimbal, which is part of the payload. The camera will transmit a live video stream for the user to view on the GUI. At this time, the user can command the camera to capture images or videos. These images or videos are then transmitted and stored on an electronic device. In some embodiments of the invention, the payload may also include some digital storage capacity. User input controls the capture mode and subsequent steps.

[0100] Before or after capturing images or videos, the user can adjust the positions of UAV100, 100′, 100″, 200, 300, and 400 using a GUI set on the electronic device. The GUI then sends one or more position adjustment commands to the microprocessor controller, which in turn generates adjustment instructions and sends them to the flight control system to adjust the positions of UAV100, 100′, 100″, 200, 300, and 400, thereby adjusting the images captured by the camera.

[0101] In some embodiments of the invention, the load may further include one or more camera actuators for adjusting the angular position of the camera itself relative to the camera body and for focusing. These one or more camera actuators can be controlled by a user interacting with a GUI.

[0102] In some embodiments of the present invention, the yaw horizontal position of UAV100, 100′, 100″, 200, 300, and 400, the vertical position of the UAV, and the pitch and roll can be adjusted using dedicated buttons on the GUI or by using pre-programmed multi-touch gestures on the GUI, including but not limited to pressing, touching, and dragging.

[0103] Once the user is satisfied with the captured images, they can initiate the recovery process via the GUI. This recovery process can employ dead reckoning algorithms or any other location determination device to return the UAVs 100, 100′, 100″, 200, 300, and 400 to their takeoff position, to a new location based on electronic devices, or to a new location selected by the user from the map function of the software application. A proximity sensor may be included in the payload, detecting when the UAVs 100, 100′, 100″, 200, 300, and 400 approach the user's hand or any other surface. This proximity sensor will send a message to the microprocessor controller to initiate the shutdown process, allowing the UAVs 100, 100′, 100″, 200, 300, and 400 to land smoothly and gently.

[0104] In some embodiments of the invention, the UAVs 100, 100′, 100″, 200, 300, and 400 can also track moving targets, such as target electronic devices. For example, when a user carries or stores the target electronic device inside clothing while walking, the UAVs 100, 100′, 100″, 200, 300, and 400 can follow at a predetermined distance after maintaining a substantially constant position relative to the moving electronic device. In some embodiments of the invention, the UAVs 100, 100′, 100″, 200, 300, and 400 can lock onto objects or people via facial recognition, thermal footprinting, or other identification hardware and software manually selected by the user, or by algorithms running on a microprocessor and, optionally, additional sensors forming part of the payload.

[0105] In some embodiments of the present invention, UAVs 100, 100′, 100″, 200, 300, and 400 can also be controlled by voice commands or gestures issued by the user. These gestures may include, but are not limited to, hand movements and facial expressions. These commands will be captured by onboard cameras, microphones, or other sensors and analyzed by onboard or remote microcontrollers or other devices. The flight control system 102 can then use these commands to change the flight path or perform certain functions, such as capturing images or other data.

[0106] In some embodiments of the invention, the controller may communicate with a remote processor that performs more complex calculations to minimize the load weight, such as obstacle detection, running artificial intelligence algorithms, flight control algorithms, facial recognition functions, etc. The remote processor may be located on an electronic device or may be a remote server.

[0107] In some embodiments of the invention, UAVs 100, 100′, 100″, 200, 300, and 400 may be temporarily mounted on a placement device 500, which may be placed in a user's home and receive sensing information from sensors located near the user's home. For example, the sensor may be a motion sensor that can be triggered by unexpected movement within the user's home or by an unexpected increase in temperature or carbon monoxide levels. Triggering these sensors will cause UAVs 100, 100′, 100″, 200, 300, and 400 to take off and fly over the user's home to capture images of the stimuli that triggered the sensors. For example, a motion sensor might be triggered by an intruder or an accidental fall by the user. The UAVs 100, 100′, 100″, 200, 300, and 400 can then be released from the mounting device 500 and fly to the location where the trigger sensor is activated and begin capturing images or videos. The captured images or videos will then be transmitted to the user's electronic device, such as a smartphone or monitoring station. Sensors on the UAVs themselves can also trigger the camera to capture images or videos when the UAVs are fixed to the mounting device 500, or they can trigger the UAV to initiate a flight process and capture images or videos from an alternative location, or both. These embodiments can be used as home surveillance programs and for monitoring elderly people who may be prone to falls and require medical assistance.

[0108] In other embodiments of the invention, UAVs 100, 100′, 100″, 200, 300, and 400 can be programmed to execute predetermined flight paths through a user's home, thereby providing real-time video feedback as a virtual transit over the user's home. This embodiment can be used as part of a security system or for real estate agencies to display marketing images of their clients' homes.

[0109] In other embodiments of the invention, UAVs 100, 100′, 100″, 200, 300, and 400 can perform reconnaissance and / or search and rescue operations by flying into environments unsuitable for individuals or large UAVs.

[0110] It is obvious that many other changes can be made to the illustrative embodiments while falling within the scope of the invention, and all such changes are intended to be covered by the appended claims.

Claims

1. A drone comprising: a body defining a channel having an upper end and a lower end opposite the upper end, a vertical axis extending through a center of the body and from the upper end to the lower end; at least one motor; at least one fan within the channel, the fan being operably coupled to the at least one motor to rotate the at least one fan and create an airflow into the upper end of the channel and out of the lower end of the channel to create a thrust force; at least two flaps; and a flight control system that drives one or more of the at least two flaps between a retracted position within the body and an extended position extending out of the body and into a region of the channel near the lower end to control at least one of a pitch or a roll in response to one or more commands to change at least one of a direction, a pressure, or a rate of the airflow at the lower end of the channel. the flight control system is further configured to drive one or more of the at least two flaps between a retracted position within the body and an extended position extending out of the body while maintaining one or more predetermined angles of inclination between the at least two flaps and the vertical axis extending through a center of the body.

2. The drone of claim 1, wherein, at least one of the at least two flaps is horizontal.

3. The drone of claim 1, wherein, at least one of the at least two flaps is concave.

4. The drone of claim 1, wherein, at least one of the at least two flaps is convex.

5. The drone of claim 1, wherein, 6. The drone of claim 1, wherein at least one of the at least two flaps is configured to retract into a curvature. at least one of the at least two flaps is configured to retract or extend along a fixed path.

7. The drone of claim 1, wherein, at least one of the at least two flaps includes a curved region.

8. The drone of claim 1, wherein, the flight control system includes at least one of a microprocessor, a wireless transceiver unit, an electronic speed controller, an inertial measurement unit (IMU), a sensor, or an actuator.

9. The drone of claim 1, wherein, the flight control system includes a microprocessor and a servo motor.

10. The drone of claim 1, wherein, at least one of the at least two flaps includes a curved region.

11. The drone of claim 1, wherein, 12. The drone of claim 1, further comprising an actuator for each of the at least two flaps, the actuator for each of the at least two flaps operably driving each of the at least two flaps from a retracted position to an extended position.

13. The drone of claim 1, wherein in the retracted position, the at least two flaps include curved ends corresponding to a shape of the body such that the at least two flaps are flush with the body.

14. The drone of claim 1, wherein a shape of the at least two flaps facilitates redirecting the airflow.

15. A method of controlling the drone of any one of claims 1 to 14. ​

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