System and structure for unmanned aerial vehicle

Abstract

An unmanned aerial vehicle (UAV) system includes a first body that can fly, a second body detachably attached to the first body and capable of acting as a stabilizer, and a power storage system capable of powering the first body and the first body. The system also includes one or more sensors, at least one processor, and at least one storage medium storing instructions. When executed, the instructions in the at least one storage medium configure the processor to receive sensor data from one or more sensors.

Description

[0001] This application is a divisional application of the invention patent application with an application date of December 18, 2020, application number 202080105265.1 (international application number PCT / CN2020 / 137610), and invention name “System and Structure of Unmanned Aerial Vehicle”.

[0002] Copyright Notice

[0003] A portion of the disclosure of this patent document contains material which is subject to copyright protection. The copyright owner has no objection to the facsimile reproduction by anyone of the patent document or the patent disclosure as it appears in the Patent and Trademark Office patent file or records, but otherwise reserves all copyright rights whatsoever. Technical Field

[0004] Embodiments disclosed herein generally relate to systems and structures for unmanned aerial vehicles (UAVs) that are quickly launchable and easily transportable. Background Art

[0005] Currently, purely technical aspects, such as flight speed and obstacle avoidance, are not the only factors that consumers and professionals consider when purchasing unmanned aerial vehicles. Unmanned aerial vehicles find use in different situations, including, for example, travel, capturing unexpected events, sports, entertainment, etc. In addition to purely technical aspects, it has become increasingly critical for unmanned aerial vehicles to better meet the challenges of these situations, whether it is quick start-up, easy portability, or giving users greater freedom when operating.

[0006] Typically, users need to use a secondary device, such as a remote controller or mobile phone, to start and operate the drone. To start the drone, users need to take out and turn on the controller before using it to start the drone. Users may need to mount their phone on the remote controller, which takes extra time and effort. When an unexpected event occurs and users need to use the drone for video recording, every second saved to start the drone is important.

[0007] In some environments, such as traveling and hiking, users may have limited space to store equipment, such as UAVs and their corresponding controllers, cameras, stabilizers, etc. Typically, these devices are separate devices, each requiring a separate storage space or container to ensure optimal use.

[0008] Typically, in instances where a user is required to use a secondary device, such as a controller or mobile phone, to operate the UAV and the UAV's onboard equipment, the user may spend extra effort and time learning, practicing, and mastering the control process. In addition, when the user needs to shift their attention to the operation of the controller or mobile phone to communicate with the UAV, the user may be distracted from ongoing activities (e.g., hiking, meetings, exercise, festivals, etc.). Therefore, while UAVs are becoming more intelligent and powerful in order to perform a variety of autonomous functions, users may be frustrated and even discouraged from using the unmanned aerial vehicle as much as they would like due to the cumbersome experience. As a result, the user cannot effectively and fully utilize the UAV's intelligence and powerful functions, and loses the opportunity to use the onboard camera on the UAV to record the subject of interest in a timely manner. Summary of the invention

[0009] According to an embodiment of the present disclosure, an unmanned aerial vehicle (UAV) system is provided. The system includes a first body of a flyable UAV aircraft, a second body detachably attached to the first body and capable of serving as a stabilizer, and a power storage system capable of supplying power to the first body and the second body. The UAV system also includes one or more sensors, at least one processor, and at least one storage medium storing instructions. When executed, the instructions in the at least one storage medium configure the processor to receive sensor data from the one or more sensors.

[0010] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of what is to be protected by the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 An exemplary system and corresponding operating environment of a UAV according to an embodiment of the present invention are shown.

[0012] Figure 2A and 2B An exemplary UAV including a first body and a second body according to an embodiment of the present disclosure is shown.

[0013] Figure 3 A second body of an exemplary UAV is shown detached from a first body according to an embodiment of the present disclosure.

[0014] Figures 4A-4D A first body of an exemplary UAV according to an embodiment of the present disclosure is shown, including a structure of one or more arms coupled to the first body.

[0015] Figure 5 An exemplary UAV including a first body and a second body in a folded configuration according to an embodiment of the present disclosure is shown.

[0016] Fig. 6A An exemplary obstacle avoidance mechanism and corresponding sensor arrangement according to an embodiment of the present disclosure are shown.

[0017] Figure 6B Another exemplary obstacle avoidance mechanism and corresponding sensor arrangement according to an embodiment of the present disclosure is shown.

[0018] Figure 6C and 6D Another exemplary obstacle avoidance mechanism and corresponding sensor arrangement according to an embodiment of the present disclosure is shown.

[0019] Fig. 7A and 7B An exemplary power storage system arrangement according to an embodiment of the present disclosure is shown.

[0020] Figure 8 Another exemplary power storage system arrangement according to an embodiment of the present disclosure is shown.

[0021] Fig. 9 Several exemplary processor configurations according to embodiments of the present disclosure are shown.

[0022] Figures 10A-10C An exemplary storage container configuration of a UAV according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0023] The following detailed description refers to the accompanying drawings. Whenever possible, the same reference numerals represent the same or similar parts. Although several illustrative embodiments are described herein, modifications, adaptations, and other implementations are possible. For example, the components shown in the drawings may be replaced, added, or modified. Therefore, the following detailed description is not limited to the disclosed embodiments and examples. Instead, the proper scope is defined by the appended claims.

[0024] According to embodiments of the present disclosure, systems and structures are provided for a UAV that can be quickly launched and easily carried.

[0025] One embodiment of the present disclosure is a system comprising a first body of a flyable UAV and a second body detachably attached to the first body and capable of acting as a stabilizer. The first body comprises one or more arms coupled to the first body and one or more propulsion devices mounted on the one or more arms. The system also comprises one or more sensors configured to obtain data about conditions that at least affect the movement of the first body. The second body comprises a power storage system capable of supplying power to the first body and the second body. The system also comprises at least one processor and at least one storage medium storing instructions. When executed, the instructions in the storage medium configure the processor to: receive data from the one or more sensors or cameras; preprocess the data based on a predetermined preprocessing setting; communicate with a server or user device regarding the data or the preprocessed data; and transmit the data or the preprocessed data to the server or user device.

[0026] Figure 1 An exemplary system 100 and corresponding operating environment of a UAV 102 according to an embodiment of the present disclosure is shown. Figure 1 In the figure, only the relationship between the exemplary UAV 102 and the corresponding operating environment in the system 100 is illustrated. The details of the structure of the UAV 102 and the subsystems of the system 100 are described in Figure 2A-10C Detailed description in Figure 2A-9 As described in detail, UAV 102 includes a first body of a sub-UAV that can fly and a second body that can be detachably attached to the first body and can serve as a stabilizer. System 100 includes subsystems onboard UAV 102 (e.g., sensor system 101, controller 103, communication system 105, etc.) and other system components, such as network 120, server 110, and mobile device 140.

[0027] In some embodiments, the UAV 102 is capable of communicating with one or more electronic devices including a mobile device 140 and a server 110 (e.g., a cloud-based server) via a network 120 to exchange information with each other and / or with other additional devices and systems. In some embodiments, the system 100 includes a remote control 130 (also referred to herein as a terminal 130), and the UAV 102 is also capable of communicating with the terminal 130. In some other embodiments, when the second body is detachably attached to the first body, the system 100 does not include a remote control. As shown in FIG. Figure 2A -4 described in detail, when the second body is detached from the first body, the second body can be used as a remote controller.

[0028] In some embodiments, the network 120 can be any combination of wired and wireless local area networks (LANs) and / or wide area networks (WANs), such as intranets, extranets, and the Internet. In some embodiments, as discussed in the present disclosure, the network 120 can provide communication between one or more electronic devices. For example, the UAV 102 can transmit data (e.g., image data and / or motion data) detected by one or more sensors onboard during the movement of the UAV 102 in real time via the network 120 to other system components (e.g., remote controllers 130, mobile devices 140, and / or servers 110) configured to process the data. In addition, the processed data and / or operating instructions can be communicated in real time between the remote controller 130, the mobile device 140, and / or the cloud-based server 110 via the network 120. In addition, operational instructions can be transmitted in real time from the remote control 130, the mobile device 140 and / or the cloud-based server 110 to the UAV 102 to control the flight of the UAV 102 and its components via any suitable communication technology, such as a local area network (LAN), a wide area network (WAN) (e.g., the Internet), a cloud environment, a telecommunications network (e.g., 3G, 4G), Wi-Fi, ZigBee technology, Bluetooth, radio frequency (RF), point-to-point communication such as Ocusync and LightBridge, infrared (IR), or any other communication technology.

[0029] In some embodiments, the network 120 includes at least one communication link that connects the components and devices of the UAV 102 with the devices and components of the system 100 for data transmission. The at least one communication link may include one or more connection ports of the first body 202 or the second body 204, or a wireless communication link, or a combination thereof. The at least one communication link may apply any appropriate technology, such as ZigBee technology or Wi-Fi, etc. For example, the communication system 105 includes a first communication link and a second communication link. The first communication link and the second communication link are independent of each other, so that specific types of data can be communicated more effectively within the system 100. The components of the UAV 102 may be configured to connect to each other and exchange data through the first communication link and the second communication link, respectively. For example, the first communication link is configured to transmit sensor data for flight control, so that the system 100 can realize the intelligent flight control of the UAV 102 by analyzing the sensor data communicated via the first communication link. As another example, the second communication link is configured to transmit the sensor data to the user of the UAV 102 or the ground unit of the system 100. As yet another example, the first communication link is configured to exchange control signals, and the second communication link is configured to exchange image data.

[0030] The system 100 includes an onboard sensing system 101. The sensing system 101 may include one or more sensors associated with one or more components or other subsystems of the UAV 102. For example, the sensing system 101 may include sensors for determining position information, velocity information, and acceleration information related to the UAV 102 and / or its observed targets. In some embodiments, the sensing system 101 may also include a carrier sensor. The components of the sensing system 101 may be configured to generate data and information that may be used (e.g., processed by the controller 103 or another device) to determine additional information about the UAV 102, its components, and / or its targets. The sensing system 101 may include one or more sensors for sensing one or more aspects of the movement of the UAV 102. For example, the sensing system 101 may include a sensing device associated with the payload 235, as described below with reference to Figure 2A Detailed description, and / or additional sensing devices, such as positioning sensors for positioning systems (e.g., GPS, GLONASS, Galileo, Beidou, GAGAAN, RTK, etc.), motion sensors, inertial sensors (e.g., IMU sensors, MIMU sensors, etc.), proximity sensors, imaging sensors, etc. The sensing system 101 may also include sensors configured to provide data or information related to the surrounding environment, such as weather information (e.g., temperature, pressure, humidity, etc.), lighting conditions (e.g., light source frequency), air composition, or nearby obstacles (e.g., objects, structures, people, other vehicles, etc.).

[0031] The communication system 105 of the UAV 102 may be configured to enable communication of data, information, commands, and / or other types of signals between the onboard controller 103 and an off-board entity, such as a remote controller 130, a mobile device 140 (e.g., a mobile phone), a server 110 (e.g., a cloud-based server), or another suitable entity. The communication system 105 may include one or more on-board components configured to send and / or receive signals, such as a receiver, transmitter, or transceiver configured for one-way or two-way communication. The on-board components of the communication system 105 may be configured to communicate with the off-board entity via one or more communication networks, such as radio, cellular, Bluetooth, Wi-Fi, RFID, and / or other types of communication networks that can be used to transmit signals indicative of data, information, commands, and / or other signals, including the network 120. For example, the communication system 105 may be configured to enable communication with an off-board device to provide input for controlling the UAV 102 during flight, such as the remote controller 130 and / or the mobile device 140.

[0032] The onboard controller 103 of the UAV 102 may be configured to communicate with various devices onboard the UAV 102, such as the communication system 105 and the sensing system 101. The controller 103 may also communicate with a positioning system (e.g., a global navigation satellite system or GNSS) to receive data indicating the location of the UAV 102. The onboard controller 103 may communicate with various other types of devices that may be onboard the UAV 102 or off-board, including a barometer, an inertial measurement unit (IMU), a transponder, or the like, to obtain positioning information and velocity information of the UAV 102. The controller 103 may also provide control signals (e.g., in the form of a pulse modulated signal or a pulse width modulated signal) to one or more electronic speed controllers (ESCs) of the UAV 102, which may be configured to control one or more propulsion devices of the UAV 102. Thus, the onboard controller 103 may control the movement of the UAV 102 by controlling the one or more electronic speed controllers.

[0033] The off-board device, such as the remote control 130 and / or the mobile device 140, may be configured to receive input, such as input from a user (e.g., manual user input, user voice input, user gestures captured by the sensing system 101 of the UAV 102), and transmit a communication signal indicative of the input to the controller 103. Based on the input from the user, the off-board device may be configured to generate corresponding signals indicative of one or more types of information, such as control data (e.g., signals) for moving or manipulating the UAV 102 (e.g., via a propulsion device), the payload 235, and / or the carrier. The off-board device may also be configured to receive data and information from the UAV 102, such as data collected by or associated with the payload 235, and operational data related to, for example, position data, velocity data, acceleration data, sensory data, and other data and information related to the UAV 102, its components, and / or its surroundings. As discussed in the present disclosure, the off-board device may be a remote controller 130 having a physical stick, a control rod, a switch, a wearable device, a touch display, and / or a button configured to control flight parameters, and a display device configured to display image information captured by the sensing system 101. The remote controller 130 may be specifically designed for one-handed operation, thereby making the UAV 102 and the devices and components corresponding to the system 100 more portable. For example, the display screen may be smaller, and the physical stick, control rod, switch, wearable device, touch display, and / or button may be more compact to make it easier to operate with one hand. The off-board device may also include a mobile device 140, which includes a display screen or a touch screen, such as a smartphone or tablet, with virtual controls for the same purpose, and an application may be used on the smartphone or tablet or a combination thereof. In addition, the off-board device may include a server system 110 communicatively coupled to the network 120 for communicating information with the remote controller 130, the mobile device 140, and / or the UAV 102. The server system 110 may be configured to perform one or more functions or sub-functions in addition to or in combination with the remote controller 130 and / or the mobile device 140. The off-board device may include one or more communication devices, such as an antenna or other device configured to send and / or receive signals. The off-board device may also include one or more input devices configured to receive input from a user and generate input signals that can communicate with the on-board controller 103 of the UAV 102 so as to be processed by the controller 103 to operate the UAV 102. In addition to flight control inputs, the off-board device may be used to receive user input of other information, such as manual control settings, automatic control settings, control assistance settings, and / or aerial photography settings. It should be understood that different combinations or layouts of input devices for the off-board device are possible and within the scope of the present disclosure.

[0034] The off-board device may also include a display device 131 configured to display information, such as signals indicating information or data related to the movement of the UAV 102 and / or data captured by the UAV 102 (e.g., in conjunction with the sensing system 101) (e.g., imaging data such as image data and video data). In some embodiments, the display device 131 may be a multi-function display device configured to display information and receive user input. In some embodiments, the off-board device may include an interactive graphical interface (GUI) for receiving one or more user inputs. In some embodiments, the off-board device, such as the mobile device 140, may be configured to work in conjunction with a computer application (e.g., an "app") to provide an interactive interface on a multi-function screen of the display device 131 or any suitable electronic device (e.g., a cellular phone, a tablet computer, etc.) for displaying information received from the UAV 102 and for receiving user input.

[0035] In some embodiments, the display device 131 of the remote controller 130 or the mobile device 140 may display one or more images received from the UAV 102. In some embodiments, the UAV 102 may also include a display device configured to display images captured by the sensing system 101. The remote controller 130, the mobile device 140, and / or the display device 131 on the onboard UAV 102 may also include an interactor, such as a touch screen, so that the user can identify or select a portion of the image that the user is interested in. In some embodiments, the display device 131 may be an integrated component, for example, attached or fixed to the corresponding device. In other embodiments, the display device 131 may be electronically connectable to the corresponding device (and disconnected) (e.g., via a connection port or a wireless communication link) and / or otherwise connectable to the corresponding device via a mounting device, such as by clamping, clamping, clasping, hooking, adhering, or other types of mounting devices. In some embodiments, the display device 131 may be a display component of an electronic device, such as a remote controller 130, a mobile device 140 (e.g., a cellular phone, a tablet computer, or a personal digital assistant), a server system 110, a laptop computer, or other devices.

[0036] In some embodiments, as shown in Figure 1The one or more electronic devices discussed (e.g., UAV 102, server 110, remote control 130, or mobile device 140) may have at least one processor and at least one storage medium storing instructions. When executed, the instructions may configure the at least one processor to process data obtained from the sensing system 101 of the system 100 and the UAV 102. The instructions may also configure the at least one processor to recognize a body posture of an operator, including one or more fixed body postures, postures, or positions recognized in one or more images, or body movements determined based on multiple images. In some embodiments, the instructions may also configure the at least one processor to determine a user command corresponding to the recognized body posture of the operator to control the UAV 102. The (one or more) electronic devices are also configured to transmit the determined user commands (e.g., substantially in real time with the flight of the UAV 102) to the system 100 and the relevant control and propulsion components of the UAV 102 for corresponding control and operation. In some embodiments, the onboard controller 103 may include at least one processor.

[0037] In some further embodiments, at least one storage medium of the UAV 102 may store instructions that configure at least one processor of the UAV 102 to process data obtained from the sensing system 101. In some embodiments, the instructions may configure the communication system 105 to transmit data and data processing instructions and / or commands to one or more other suitable entities (e.g., server 110) via the network 120 to process the data by the other suitable entities. In some embodiments, the instructions for processing the data may be based on user commands received from the remote controller 130, the mobile device 140, and / or other devices or components in the system 100. For example, the instructions may cause at least one processor to automatically transmit image data to the server 110 and apply one or more predetermined image filters based on predetermined rules to edit the image data. This enables the user to quickly post the image on social media once the image is received, thereby saving the user time in editing the image data. In some embodiments, the at least one processor may be placed in either or both of the first body and the second body. In some further embodiments, there may be a first processor in the first body and a second processor in the second body. Each processor may include various types of processing devices. For example, each processor may include a microprocessor, a preprocessor (e.g., an image preprocessor), a graphics processing unit (GPU), a central processing unit (CPU), support circuits, a digital signal processor, an integrated circuit, a memory, any other type of device suitable for performing operations based on instructions (e.g., flight control, processing data, calculations, etc.), or a combination thereof. As another example, each processor may include any type of single-core or multi-core processor, a mobile device microcontroller, etc.

[0038] In some embodiments, each processor may be classified into either of two tiers (first tier or second tier) based on performance, capability, and specificity.

[0039] In some embodiments, the first layer processor may have more processing power and include multiple functions. The first layer processor may include a combination of one or more relatively more general processors and one or more relatively more specialized processing units, which are designed for high-performance digital and visual signal processing. For example, one or more relatively more general processors may include one or more digital signal processors (DSPs), advanced RISC machine (ARM) processors, graphics processing units (GPUs), or the like, or a combination thereof. For another example, one or more relatively more specialized processing units may include one or more convolutional neural network (CNN)-based adaptive cruise control (ACC), vision-based ACC, image signal processor (ISP), or the like, or a combination thereof. In some embodiments, the second layer processor may include one or more processors with more limited functionality than the first layer processor, and may have lower performance in certain areas such as image signal processing. For example, the second layer processor may be an ARM M7 processor.

[0040] The two-tier classification is on a relative scale related to processor selection and placement relative to the UAV 102. The classification of processors as first tier, second tier, or removed from a tier may change as technology evolves, products are upgraded, and may vary depending on the desired capabilities of the UAV 102 and the purpose of the associated components of the UAV 102. Fig. 9 The arrangement of the processors in the first body and the second body of the UAV 102 relative to the two layers is described in detail.

[0041] In some embodiments, an application or software on the mobile device 140 may receive the data and / or the processed data. In some embodiments, the application or software may enable the user to edit the data or further edit the processed data. In another embodiment, the user may post the processed data to social media directly or through the application without transferring the processed data to another device such as a desktop computer. The application or software on the mobile device 140 may also enable the user to use the computing power of the server 110 through the network 120 to process the data.

[0042] Figure 2A and 2B An exemplary UAV 102 is shown including a first body 202 and a second body 204 in accordance with an embodiment of the present disclosure. Figure 2A and 2B UAV 102 is shown from different viewing angles. Figure 3 A second body 204 is shown. Figures 4A-4D A first body 202 is shown. The first body 202 and the second body 204 can perform some operations individually and together. Figures 4A-4D The first body 202 can fly alone without the second body 204. The first body 202 can also fly together with the second body 204. The first body 202 and the second body 204 can also perform other operations together that they may not perform alone. For example, as shown in reference Figures 6A-6D As described in detail in FIG. 1 , the first body 202 and the second body 204 can act together to achieve omnidirectional obstacle avoidance. Figure 3 As described in detail in , when detached from the first body 202, the second body 204 can be used alone as a ground unit (eg, a device that a user can operate on the ground), such as a handheld stabilizer.

[0043] The first body 202 and the second body 204 may be removably attached to each other by magnetic attraction, at least one structural attachment mechanism, such as clamping or snapping, or a combination thereof. The physical interface between the first body 202 and the second body 204 includes a first physical interface of the first body 202 and a second physical interface of the second body 204. The physical interface between the first body 202 and the second body 204 may include a physical data interface for exchanging data between the first body 202 and the second body 204. The physical interface and the data interface between the first body 202 and the second body 204 may be "unified" so that upgrades and changes to one or both of the first body 202 and the second body 204 do not affect the physical interface and the data interface. For example, a user may install a software upgrade to enhance the flight control capabilities of the first body 202 without affecting the compatibility of the first body 202 and the second body 204. For another example, a user may purchase a new version of the second body 204 or replace a new image sensor associated with the payload 235, and these replacements will not affect the compatibility between the first body 202 and the second body 204. This is economical and convenient for users, because users do not need to upgrade or purchase the first body 202 and the second body 204 at the same time, and can use different types of first bodies 202 and / or second bodies 204 and match them in different combinations to achieve certain operational purposes.

[0044] In some embodiments, the first body 202 includes a magnetic attraction component, and the second body 204 includes a magnetic component, so that the first body 202 and the second body 204 can be detachably attached to each other by magnetic attraction between the magnetic attraction component and the magnetic component. In some other embodiments, the second body 204 includes a magnetic attraction component, and the first body 202 includes a magnetic component. In some embodiments, the magnetic attraction component includes a magnetic shielding component, which is configured to prevent the magnetic attraction component from interfering with a magnetic sensor (e.g., a compass) of the UAV 102. For example, the magnetic shielding component is a metal piece. The metal piece is coupled to the magnetic attraction component to reduce magnetic circuit leakage, thereby reducing interference with a magnetic sensor such as a compass of the first body 202. In some embodiments, the metal piece can be a thin metal sheet.

[0045] In some embodiments, the first body 202 includes a first snap-fitting portion, and the second body 204 includes a second snap-fitting portion, so that the first body 202 and the second body can be detachably attached to each other by snapping the first snap-fitting portion with the second snap-fitting portion. For example, the first snap-fitting portion has a hook shape, and the second snap-fitting portion has a groove shape configured to snap with the hook shape of the first snap-fitting portion. As another example, the first snap-fitting portion has a groove shape and the second snap-fitting portion has a convex shape configured to snap with the groove shape of the first snap-fitting portion.

[0046] In some embodiments, the first body 202 includes a shock absorbing device, and the second body 204 is detachably attached to the first body through the shock absorbing device. The shock absorbing device may include at least one of a vibration damping ball, a wire rope isolator, and a vibration isolation spring.

[0047] In some embodiments, the first body 202 includes a first communication interface configured to exchange data of the first body 202, and the second body 204 includes a second communication interface configured to exchange data of the second body 204. The first communication interface includes a first physical interface, and the second communication interface includes a second physical interface.

[0048] As described above, the physical interface between the first body 202 and the second body 204 may include a physical data interface for data exchange between the first body 202 and the second body 204. This physical data interface may be a connection between the first physical interface and the second physical interface. For example, when the second body 204 is attached to the first body 202, the first communication interface and the second communication interface are configured to exchange data through the connection between the first physical interface and the second physical interface.

[0049] In some embodiments, when the second body 204 is detached from the first body 202, the first body 202 can be upgraded through the first communication interface, and the second body 204 can be upgraded through the second communication interface. As described above, this ability to upgrade separately is economical and convenient for the user, because the user may not need to upgrade both the first body 202 and the second body 204 at the same time, and different types of first bodies 202 and / or second bodies 204 can be used and matched in different combinations to achieve certain operational purposes. In some embodiments, when the second body 204 is detached from the first body 202, the first body 202 is configured to communicate with the outside through the first communication interface, and the second body 204 is configured to communicate with the outside through the second communication interface.

[0050] In some embodiments, the first body 202 can be disposed on top of the second body 204. Figure 2A As shown. The second body 204 includes at least one distance sensor configured to capture distance data related to the surrounding environment. The second body 204 includes a payload 235 configured to capture data and a controller 241 configured to process the data captured by the payload based on the distance data captured by the at least one distance sensor. The at least one processor may include the controller 241. The at least one distance sensor is coupled to the flight controller of the first body 202. The flight controller is configured to control the flight of the first body 202 based on the distance data captured by the at least one distance sensor at the second body 202.

[0051] In some other embodiments, the second body 204 may be disposed on top of the first body 202. In the example where the second body 204 is disposed on top of the first body 202, certain components may need to be disposed differently to optimize the functionality of the UAV 102. For example, an imaging sensor associated with the payload 235 may be omitted. Additional sensors may be disposed at the bottom of the first body 202 to collect environmental data below the UAV 102 during operation, and no sensors may be disposed on top of the first body 202. In some further embodiments, the first body 202 includes at least one distance sensor configured to capture distance data related to the surrounding environment. The at least one distance sensor of the first body 202 is coupled to a flight controller of the first body 202. The flight controller is configured to control the flight of the first body 202 based on the distance data captured by the at least one distance sensor of the first body 202.

[0052] Data from different input interfaces and sensors, different types of data, and data used for different purposes by the UAV 102 may be exchanged together or separately between the first body 202 and the second body 204, and may also be exchanged between devices and components of the system 100, such as the network 120, the server 110, the mobile device 140, etc. For example, data collected from the imaging sensor(s) associated with the payload 235 of the second body 204 for flight control may be exchanged with data collected for image processing via a separate communication link.

[0053] The UAV 102 includes one or more (e.g., 1, 2, 3, 4, 5, 10, 15, 20, etc.) propulsion devices 205 positioned at one or more locations (e.g., the top, side, front, rear, and / or bottom of the UAV 102) for propulsion and maneuvering the UAV 102. In some embodiments, the UAV 102 may include one or more arms coupled to the first body 202. The one or more propulsion devices 205 are located on one or more arms 206 connected to the first body 202. The propulsion devices 205 are devices or systems operable to generate forces for maintaining controlled flight. The propulsion devices 205 may share or may each independently include or be operably connected to a power source, such as a motor (e.g., an electric motor, a hydraulic motor, a pneumatic motor, etc.), an engine (e.g., an internal combustion engine, a turbine engine, etc.), a battery pack, etc., or a combination thereof. Each propulsion device 205 may also include one or more rotating components 207, which are drivably connected to a power source (not shown) and are configured to participate in generating forces for maintaining controlled flight. For example, the rotating component 207 may include a rotor, a propeller, a blade, a nozzle, etc., which may be on or driven by an axis, an axle, a wheel, a hydraulic system, a pneumatic system, or other components or systems configured to transmit power from a power source. The propulsion device 205 and / or the rotating component 207 may be adjusted (e.g., tiltable) relative to each other and / or relative to the UAV 102. Alternatively, the propulsion device 205 and the rotating component 207 may have a fixed orientation relative to each other and / or the UAV 102. In some embodiments, each propulsion device 205 may be of the same type. In other embodiments, the propulsion device 205 may be of a variety of different types. In some embodiments, all propulsion devices 205 may be controlled in unison (e.g., all at the same speed and / or angle). In other embodiments, one or more propulsion devices may be independently controlled, for example, in terms of speed and / or angle.

[0054] The propulsion device 205 may be configured to propel the UAV 102 in one or more vertical and horizontal directions, and to allow the UAV 102 to rotate around one or more axes. That is, the propulsion device 205 may be configured to provide lift and / or thrust for generating and maintaining translational and rotational motion of the UAV 102. For example, the propulsion device 205 may be configured to enable the UAV 102 to achieve and maintain a desired altitude, provide thrust for movement in all directions, and provide steering of the UAV 102. In some embodiments, the propulsion device 205 may enable the UAV 102 to perform vertical takeoff and landing (i.e., takeoff and landing without horizontal thrust). The propulsion device 205 may be configured to enable the UAV 102 to move along and / or around multiple axes.

[0055] In some embodiments, the payload 235 includes a sensing device as part of the sensing system 101. The sensing device associated with the payload 235 may include a device for collecting or generating data or information, such as measuring, tracking, and capturing images or videos of targets (e.g., objects, landscapes, subjects of photos or video capture, etc.). The sensing device may include an imaging sensor configured to collect data that can be used to generate images. In some embodiments, the image data obtained from the imaging sensor may be processed and analyzed to obtain commands and instructions for operating the UAV 102 and / or the imaging sensor from one or more users. In some embodiments, the imaging sensor may include a camera, a video camera, an infrared imaging device, an ultraviolet imaging device, an X-ray device, an ultrasonic imaging device, a radar device, etc. The sensing device may also or alternatively include a device for capturing audio data, such as a microphone or an ultrasonic detector. The sensing device may also or alternatively include other suitable sensors for capturing visual, audio, and / or electromagnetic signals.

[0056] The carrier 230 may include one or more devices configured to hold the payload 235 and / or allow the payload 235 to be adjusted (e.g., rotated) relative to the UAV 102. For example, the carrier 230 may be a gimbal. As described below, the carrier 230 may be configured to allow the payload 235 to rotate around one or more axes. In some embodiments, the carrier 230 may be configured to allow the payload 235 to rotate 360° around the axis of each degree of freedom to allow greater control of the viewing angle of the payload 235. In other embodiments, the carrier 230 may limit the range of rotation of the payload 235 to less than 360° (e.g., ≤270°, ≤210°, ≤180°, ≤120°, ≤90°, ≤45°, ≤30°, ≤15°, etc.) around one or more axes.

[0057] The carrier 230 may include a frame assembly, one or more actuator components, and one or more carrier sensors. The frame assembly may be configured to couple the load 235 to the UAV 102, and in some embodiments, allow the load 235 to move relative to the UAV 102. In some embodiments, the frame assembly may include one or more subframes or components that can move relative to each other. The actuator components are configured to drive the components of the frame assembly relative to each other to provide translation and / or rotational motion of the load 235 relative to the UAV 102. In other embodiments, the actuator components may be configured to act directly on the load 235 to cause the load 235 to move relative to the frame assembly and the UAV 102. The actuator components may be or may include suitable actuators and / or force transmission components. For example, the actuator components may include a motor configured to provide linear and / or rotational motion to multiple components of the frame assembly and / or the load 235 together with multiple axles, multiple shafts, multiple tracks, multiple belts, multiple chains, multiple gears and / or other components.

[0058] The carrier sensor may include a device configured to measure, sense, detect, or determine status information of the carrier 230 and / or the load 235. The status information may include position information (e.g., relative position, orientation, attitude, linear displacement, angular displacement, etc.), velocity information (e.g., linear velocity, angular velocity, etc.), acceleration information (e.g., linear acceleration, angular acceleration, etc.), and / or other information related to the control of movement of the carrier 230 or the load 235, whether independently or relative to the UAV 102. The carrier sensor may include one or more types of suitable sensors, such as potentiometers, optical sensors, visual sensors, magnetic sensors, motion or rotation sensors (e.g., gyroscopes, accelerometers, inertial sensors, etc.). The carrier sensor may be associated with or attached to various components of the carrier 230, such as components of a frame assembly or actuator member, or to the UAV 102. The carrier sensor may be configured to transmit data and information to the onboard controller 103 of the UAV 102 via a wired or wireless connection (e.g., RFID, Bluetooth, Wi-Fi, radio, cellular, etc.). Data and information generated by the carrier sensors and communicated to the controller 103 may be used by the controller 103 for further processing, such as for determining status information of the UAV 102 and / or the target.

[0059] The bearing 230 may be coupled to the UAV 102 via one or more shock absorbing elements, which are configured to reduce or eliminate the transmission of undesired impacts or other forces from the UAV 102 to the load 235. The shock absorbing element may be active, passive or hybrid (i.e., having active and passive characteristics). The shock absorbing element may be formed of any suitable material or combination of materials, including solids, liquids and gases. Compressible or deformable materials, such as rubber, springs, gels, foams and / or other materials, may be used as shock absorbing elements. The shock absorbing element may work to isolate the load 235 from the UAV 102 and / or dissipate the force propagation from the UAV 102 to the load 235. The shock absorbing element may also include a mechanism or device configured to provide a shock absorbing effect, such as a piston, a spring, a hydraulic device, a pneumatic device, a shock absorber, and / or other devices or combinations thereof.

[0060] The power storage system 220 may be a device configured to power or otherwise provide power to electronic components, mechanical components, or a combination thereof in the UAV 102. The power storage system 220 may be a battery, a battery pack, or other device. In some other embodiments, the power storage system 220 may be or include one or more of a combustible fuel, a fuel cell, or another type of power storage system. The power storage system 220 may provide power to one or more sensors on the UAV 102. The power storage system 220 may provide power to the first body 202 and components of the first body 202 for operation. For example, the power storage system 220 may provide power to the first body 202 for flight by providing power to the propulsion devices 205 on one or more arms 206 to actuate one or more rotating components 207, such as propellers, to rotate. The power storage system 220 may provide power to the second body 204 and components of the second body 204 for operation. For example, the power storage system 220 may provide power to the user interface 250 and the load 235 on the second body 204. Reference Fig. 7A , 7B and 8 describe the power storage system 220 in more detail.

[0061] In some embodiments, the power storage system 220 may serve as a power source for devices or components other than electronic components, mechanical components, or a combination thereof in the UAV 102. This is particularly useful and economical in the sense of maximizing the use of energy stored in the power storage system 220, because when the remaining power is below a certain level, the power storage system 220 may not be suitable for powering the UAV 102 for another safe flight until it is recharged. The remaining power can still relieve the user from carrying other power sources to charge other devices, such as mobile phones and cameras. In some embodiments, at least one copy of the power storage system 220 may exist as a backup power source. In some embodiments, other devices and components can be charged from the power storage system 220 as a power source by directly connecting to the power storage system 220. In some other embodiments, other devices and components can be charged from the power storage system 220 by connecting to the UAV 102 or by other charging devices or mechanisms. For example, a storage container for the UAV 102 or the power storage system 220 may include such a charging function. The user can connect the power storage system 220 and the device to be charged on the storage container to charge the device using the power stored in the power storage system 220. The user can use the power storage system 220 to charge the storage container of the UAV 102, and can also use the storage container to charge the power storage system 220. Figures 10A-10C The storage container is described in detail.

[0062] In some embodiments, at least one processor of the UAV 102 may be in the first body 202 or the second body 204. In some other embodiments, the first body 202 and the second body 204 may each include at least one processor according to an embodiment of the present disclosure. In some embodiments, at least one storage medium of the UAV 102 may be in the first body 202 or the second body 204. In some other embodiments, the first body 202 and the second body 204 may each include at least one storage medium according to an embodiment of the present disclosure.

[0063] In some embodiments, the first body 202 includes a flight control system 270 configured for the first body 202. The flight control system 270 may include a flight controller 272, which generates flight control commands to control the flight of the first body 202. The flight control system 270 of the first body 202 may include a flight sensing system. The flight sensing system includes at least one distance sensor configured to capture data related to the surrounding environment. For example, at least one distance sensor may include at least one of a ToF (time of flight) sensor, a monocular sensor, a binocular sensor, an infrared sensor, an ultrasonic sensor, and a LIDAR sensor. The flight sensing system may also include a sensing processor configured to process data captured by at least one distance sensor. In some other embodiments, the flight control system 270 includes a navigation controller 274 configured to navigate the first body 202. The navigation controller 274 communicates with the flight controller 272.

[0064] In some embodiments, the carrier 230 is a gimbal, and the second body 204 includes a gimbal controller 242 configured to control the attitude of the carrier 230. In some embodiments, the gimbal controller 242 communicates with the flight controller of the first body 202. The gimbal controller 242 is configured to receive state information of the load 235, such as the attitude of the load 235 and the operating state of the load 235. The flight control system 270 of the first body 202 is configured to receive the state information of the load 235 from the gimbal controller 242, and adjust the state of the first body 202 (such as attitude, operation mode, operation parameters, etc.) based on the state information of the load 235. The gimbal controller 242 can also be configured to receive the state information of the first body 202 from the flight control system 270. The state information of the first body 202 includes the attitude, operation mode, operation parameters and other state information of the first body 202. The gimbal controller 242 can be further configured to adjust the state of the load 235 (such as the attitude and operation state of the load 235) based on the state information of the first body 202. In some embodiments, the controller 241 and the gimbal controller 242 are the same controller. In some other embodiments, the controller 241 and the gimbal controller 242 are different controllers. In some embodiments, the second body 204 includes a storage medium 243 in the second body 204 configured to store image data.

[0065] exist Figure 2BIn an exemplary embodiment of the present invention, the second body 204 includes a user interface 250. The user interface 250 may include one or more buttons, one or more physical bars, at least one screen, other user interfaces, or a combination thereof. In some embodiments, the user interface 250 may include a screen that provides information related to the UAV 102. The information may be related to at least one of the first body 202 and the second body 204. In some embodiments, the user interface 250 may be configured to display information, such as a signal indicating information or data related to the movement of the UAV 102 and / or data (e.g., imaging data) captured by the UAV 102 (e.g., in conjunction with the sensing system 101). In some other embodiments, the user interface 250 may display a signal in a specific manner to indicate information of the UAV 102 to a user at a distance. For example, the user interface 250 may display simple and bright colors to indicate different motion states of the UAV 102.

[0066] In some embodiments, the user interface 250 may include a touch screen 252 capable of receiving user commands. The user command may be a command that affects the first body 202, the second body 204, other components or devices in the system 100, or a combination thereof. In some embodiments, the user may give (multiple) user commands via the user interface 250, and the user commands cause the UAV 102 to perform one or more automatic tasks. In some embodiments, after giving (multiple) user commands, the user may leave the UAV 102 at a certain location, and the UAV 102 may start one or more automatic tasks based on (multiple) user commands received through the user interface 250. In some other embodiments, after giving (multiple) user commands, the user may throw the UAV 102, and the UAV 102 may start the one or more automatic tasks based on (multiple) user commands received through the user interface 250. In some embodiments, the system 100 may also receive user commands by identifying input from the user (e.g., user manual input, user voice input, user gestures captured by the sensing system of the UAV 102), as described above.

[0067] In an exemplary embodiment, user commands may cause the UAV 102 to (1) take off; (2) fly a predetermined trajectory relative to a predetermined target based on one or more predetermined parameters; (3) determine that at least one termination condition is satisfied; and (4) land at a take-off location.

[0068] In another exemplary embodiment, user commands may cause the UAV 102 to (1) take off; (2) fly a predetermined trajectory based on one or more predetermined parameters; (3) determine that at least one termination condition is satisfied; and (4) land at a take-off location.

[0069] In another exemplary embodiment, user commands may cause the UAV 102 to (1) take off; (2) follow a predetermined target based on one or more predetermined parameters; (3) determine that at least one termination condition is satisfied; and (4) land at a position relative to the target based on one or more predetermined parameters.

[0070] In some embodiments, at least one termination condition may be predetermined by a user command. In some embodiments, the at least one termination condition may be target loss, a predetermined amount of flight time, a predetermined flight length, a distance from a predetermined target, completion of a predetermined flight trajectory, identification of a specific input from a user, etc.

[0071] In some embodiments, the trajectory can be a circle hovering around a target or a point relative to a target, a spiral curve with increasing or decreasing distance from an axis, a line along which the UAV 102 can move and pause, etc.

[0072] In some embodiments, the one or more predetermined parameters on which the predetermined trajectory is based may be distance from an axis or target, flight speed related parameters (e.g., speed limit, average speed, acceleration, etc.), altitude related parameters, timing of pauses and hovering during flight, and the like.

[0073] In some embodiments, the UAV 102 may perform at least one of a plurality of tasks during flight based on user commands, including taking an image or video of at least one predetermined target, taking an image or video of the environment, taking an image or video with one or more effects (e.g., zoom in, zoom out, slow motion, etc.), collecting data through the sensing system 101, or other tasks or a combination thereof.

[0074] According to some disclosed embodiments, before taking off for flight based on a user command, the UAV 102 may first perform an automated self-check and an environmental check. The automated self-check may include checking multiple conditions of the UAV 102 that may affect flight. Multiple conditions in the self-check may include the remaining battery power, the conditions of the subsystems and components of the system 100, data about the UAV 102 from the sensing system 101, the connection to the network 120, etc. The environmental check may include checking multiple conditions of the surrounding environment that may affect flight. Multiple conditions in the environmental check may include weather information (e.g., temperature, pressure, humidity, etc.), lighting conditions (e.g., light source frequency), air composition, or nearby obstacles (e.g., objects, structures, people, other vehicles, etc.). In some embodiments, the environmental check may further include determining whether the environment is suitable for takeoff based on conditions that may affect takeoff. For example, the system 100 may determine whether the environment is suitable for takeoff based on conditions such as the stability and levelness of the platform on which the UAV 102 is placed and the height and density of nearby obstacles. In some embodiments, placing the UAV 102 on the ground is a preferred condition for takeoff. In some embodiments, the UAV 102 may wait for a predetermined period of time after being ready to take off. This may give the user some time to leave or prepare to perform some other task.

[0075] In some embodiments, the user command can specify that the UAV 102 will take off in a "paper airplane" mode. In the paper airplane mode, the UAV 102 can start one or more tasks after the user launches it by throwing the UAV 102. After selecting the user command of the paper airplane mode, the user can further select one or more predetermined parameters and / or give (one or more) other user commands related to one or more tasks. Then, the user can launch the UAV 102 by throwing so that the UAV 102 can start. After receiving the user command of the paper airplane mode, the system 100 can detect the event that the UAV 102 is being thrown or has been thrown based on the data received from one or more components of the sensing system 101 (such as inertial sensors, motion sensors, proximity sensors, positioning sensors, etc.), and calculations based on the data.

[0076] In some embodiments, after detecting that UAV 102 is being thrown or has been thrown, system 100 can calculate the initial direction and initial speed caused by throwing based on the data received from sensing system 101. For example, the initial direction caused by throwing can be determined by finding the data from the inertial sensor at the time point when UAV 102 is being thrown or has been thrown. System 100 can determine the time point for determining the initial direction based on a predetermined rule. In some embodiments, the predetermined rule may include, in the example of a throwing user, identifying the change in acceleration as an indication that UAV 102 is no longer in contact with a force provider. As another example, the initial speed caused by throwing can be determined by finding the average speed based on the data from the motion sensor and the inertial sensor during the period when UAV 102 is thrown or has been thrown.

[0077] In some embodiments, in the paper airplane mode, the UAV 102 may self-regulate after detecting that the UAV 102 is being thrown or has been thrown. In some embodiments, the self-regulation may be based on data received from the sensing system 101. In some other embodiments, the self-regulation may be based on the determined initial direction, the determined initial speed, the data received from the sensing system 101, other factors, and combinations thereof. For example, the system 100 may determine that the initial direction generated by the throw is toward the ground, and the direction of the UAV 102 may be adjusted upward. In some other embodiments, the self-regulation may be based on the position of the predetermined target, the determined initial direction, other factors, or combinations thereof. For example, the system 100 may self-regulate by correcting from the initial direction generated by the throw to the direction toward the target. In some embodiments, the UAV 102 may self-regulate based on one or more predetermined parameters or tasks at any time during the flight. In other embodiments, the self-regulation may be based on the relative position of the UAV 102 and the user. For example, the system 100 may determine a new direction based on a direction away from the user's position.

[0078] Figure 3 1 shows a second body 204 detached from the first body 202 of an exemplary UAV 102 according to an embodiment of the present disclosure. The second body 204 of the UAV 102 can be used alone as a device operated by a user on the ground. In some embodiments, the second body 204 can be used as a handheld stabilizer. In some embodiments, the second body 204 can include a stabilizer portion and a handheld handle portion, as shown in reference Figure 8 Described in more detail.

[0079] In some embodiments, the second body 204 can also be used as a remote control for the first body 202 of the UAV 102. According to some disclosed embodiments, a user can send user commands to the first body 202 through the user interface 250 of the second body 204.

[0080] Figures 4A-4D 2 shows a first body 202 of an exemplary UAV 102 according to an embodiment of the present disclosure. Figure 4A , the first body 202 can fly alone without the second body 204. In some embodiments, the first body 202 can be specially designed to emphasize some characteristics to achieve the desired purpose and / or better perform some tasks. For example, the first body 202 can be a racing vehicle when flying alone without the second body 204. The first body 202 can include a compartment to accommodate a power source.

[0081] In some embodiments, the power source of the first body 202 may be a copy of the power storage system 220. In some other embodiments, the power source of the first body 202 may be different from the power storage system 220. For example, the power source of the first body 202 may be lighter and smaller, which may be more suitable for some designs of the first body 202 that emphasize speed and light weight.

[0082] In some embodiments, the first body 202 may include one or more components of the sensing system 101. For example, in some embodiments, the first body 202 may include one or more imaging sensors. The one or more imaging sensors may include a camera, a video camera, an infrared imaging device, an ultraviolet imaging device, an X-ray device, an ultrasound imaging device, a radar device, etc. In some embodiments, the first body 202 may include a sensor for determining position information, velocity information, and acceleration information related to the UAV 102 and / or its observation target. The first body 202 may also include a sensor configured to provide data or information related to the surrounding environment, such as weather information (e.g., temperature, pressure, humidity, etc.), lighting conditions (e.g., light source frequency), air composition, or nearby obstacles (e.g., objects, structures, people, other vehicles, etc.).

[0083] In some embodiments, the first body 202 may include at least two layers. Figure 4A An exemplary two-layer structure of the first body 202 is shown. Figure 4A , the first body 202 includes a first layer 410 and a second layer 420. One or more arms 206 are coupled to the second layer 420 of the first body 202. The first layer 410 and the second layer 420 will be referred to as Figure 6C and 6D Detailed description.

[0084] Figures 4B-4DThe structure of the one or more arms 206 connected to the first body 202 is shown in more detail. In some embodiments, the one or more arms 206 can extend from the first body 202 of the UAV 102 at an upward angle (multiple angles) relative to the first body 202 when deployed. Figures 4B-4D The features described may be applicable to structures and systems according to embodiments, such as a UAV 102 having a first body 202 and a second body 204. In some embodiments, these features and benefits may be applicable to UAV structures and systems that are different from the UAV 102, such as a UAV having only one body. For example, these features and benefits may be applicable to a first body 202 that is configured to fly alone without the second body 204.

[0085] like Figure 4B As shown, one or more arms 206 may include two front arms 461 and two rear arms 462. Each front arm 461 and rear arm 462 may extend from the first body 202 at an upward angle relative to the first body 202. The upward angle may be an acute angle, such as an angle of 5 degrees, 10 degrees, 15 degrees, or 20 degrees. In some embodiments, the upward angles of the front arms 461 and rear arms 462 may be the same. In some other embodiments, the upward angles may be different for one or more of the arms 206. For example, referring to FIG. 4c, the two front arms 461 may extend at an upward angle 463, while the two rear arms 462 extend at different upward angles 464,

[0086] Figure 4C A front arm 461 and a rear arm 462 are shown viewed from behind the first body 202. Both the front arm 461 and the rear arm 462 are deployed. In some embodiments, a propulsion device 205 is positioned on each front arm 461 and the rear arm 462. Each propulsion device 205 can be different or the same as another propulsion device 205. In some embodiments, each propulsion device 205 includes a rotor 470. Figure 4C In the embodiment, each rotor 470 located on each front arm 461 and rear arm 462 may be at the same level relative to the first body 202, so that each rotor 470 rotates around an axis parallel to the top-down direction of the first body 202. For example, when the first body 202 is placed on a horizontal surface, each rotor 470 of the unfolded front arm 461 and rear arm 462 is also horizontal and rotates along a vertical axis.

[0087] like Figure 4CAs shown, the front arm 461 can extend from the first body 202 at an upward angle 463, and the rear arm 462 can extend from the first body 202 at an upward angle 464. The upward angle 463 is the angle between the direction along which the front arm 461 extends from the first body 202 and the horizontal body plane of the first body 202. The upward angle 464 is the angle between the direction along which the rear arm 462 extends from the first body 202 and the horizontal body plane of the first body 202. In some embodiments, the upward angle 463 can be the same as the upward angle 464 to keep the rotor 470 flush with respect to the first body 202. In some other embodiments, the upward angle 463 can be different from the upward angle 464 to keep the rotor 470 flush with respect to the first body 202 to compensate for the structural differences of the front arm 461 and the rear arm 462. This structural arrangement of the arm with an upward angle relative to the first body 202 can provide benefits to the structure, system, and operation of the first body 202 and the UAV 102. For example, arms 461 and 462 may extend at one or more upward angles that lower the center of mass of first body 202 relative to propulsion device 205. This may be beneficial for flight control and dynamics of first body 202 and UAV 102. As another example, this structural arrangement of arms may reduce or eliminate obstruction of the sides of first body 202 by one or more arms 206 and propulsion device 205. Thus, more devices and functions may be enabled, for example, sensors may be placed on the sides of first body 202 without being blocked.

[0088] In some embodiments, the rotor 470 may be non-parallel to one or more arms 206 in which the rotor 470 is positioned, so that the rotation axis of the rotor 470 can remain vertical (i.e., the rotation axis of the rotor 470 remains perpendicular to the horizontal body plane of the first body 202, and the rotor 470 remains flat relative to the first body 202), and the front arm 461 or the rear arm 462 can have an upward angle relative to the first body 202 (e.g., not parallel to the horizontal body plane of the first body 202).

[0089] In some embodiments, the upward angles 463 and 464 may be no less than a certain degree so that the propulsion device 205, such as a thruster, is above the first body 202. The upward angles may be selected to ensure that the propulsion device 205 does not interfere with the first body 202 when in operation. This may also reduce constraints on the design of the propeller in terms of parameters such as size, forces generated by the operation of the propeller, and the horizontal position of the propeller relative to the horizontal body plane of the first body 202.

[0090] Figure 4DAn exemplary first body 202 is shown in a folded configuration with the front arm 461 and rear arm 462 folded and closely positioned relative to the first body 202. In some embodiments, the front arm 461 and rear arm 462 can each be coupled to the first body 202 by one or more devices, the one or more devices including a pivot device having an angle stop mechanism that limits the pivot angle of the arm to a maximum rotation angle. In some further embodiments, this maximum rotation angle can be optimized to allow one or more of the front arm 461 and rear arm 462 to extend from the first body 202 at an optimized upward angle or multiple angles. For example, in Figure 4D , the rear arm 462 is coupled to the first body 202 by one or more devices including a pivot device 482. The pivot device 482 has an angle stop mechanism that limits the rotation of the rear arm 462 about a horizontal axis and reaches a maximum rotation angle 484. In some embodiments, the maximum rotation angle 484 can be optimized so that the deployed rear arm 462 can extend at an upward angle 464, which places the propulsion device 205 of the rear arm 462 above the first body 202.

[0091] Figure 5 An exemplary UAV 102 is shown in a folded configuration including a first body 202 and a second body 204 according to an embodiment of the present disclosure. Figure 5 It also shows the same Figure 4D Typically, to achieve similar functionality to UAV 102, a user would need at least one conventional UAV, a remote controller for the conventional UAV, and equipment for the user on the ground, such as a handheld stabilizer, so that the user would need more space to store all of these separate equipment rather than just storing the folded UAV 102. Figure 4D and 5 An exemplary folded configuration is shown which may save space compared to conventional storage of these individual devices.

[0092] In some embodiments, the arm 206 may be detachable from the UAV 102. For example, the arm 206 and the first body 202 are connected by an electromechanical connector, and the arm 206 may be detached at the electromechanical connector and stored separately from the UAV 102. In some embodiments, the arm 206 and the propulsion device 205 may also be detachable.

[0093] In some embodiments, the arm 206 is detachable from the UAV 102. For example, the arm 206 and the first body 202 are connected by an electromechanical connector, and the arm 206 can be detached at the electromechanical connector and stored separately from the UAV 102. In some embodiments, the arm 206 and the propulsion device 205 can also be detachable.

[0094] In some embodiments, sensors configured to provide distance data (e.g., visual data, distance data, etc.) may have limited FOV (e.g., each sensor has a horizontal viewing angle of no more than 64°). In some other embodiments, some or all sensors may have a wide-angle FOV (e.g., a horizontal viewing angle between 64° and 114°) or may be fisheye sensors (e.g., a horizontal viewing angle greater than 114°).

[0095] Figures 6A-6D An exemplary obstacle avoidance mechanism and corresponding sensor arrangement according to an embodiment of the present disclosure are shown. Figures 6A-6D In FIG. 1 , UAV 102 is illustrated as using sensors with limited FOV to obtain range data about the surrounding environment. By applying the exemplary obstacle avoidance mechanism and corresponding sensor arrangement, omnidirectional obstacle avoidance is achieved using sensors with limited FOV. Figures 6A-6D In some embodiments other than those shown, the UAV 102 may use sensors with limited FOV, wide angle FOV, fisheye, or the like, or a combination thereof to obtain range data about the surrounding environment. Types of sensors used by the UAV 102 to obtain range data include ToF (time of flight) sensors, monocular sensors, binocular sensors, infrared sensors, ultrasonic sensors, LIDAR sensors, or the like, or a combination thereof.

[0096] Fig. 6A An exemplary obstacle avoidance mechanism and a corresponding sensor arrangement according to an embodiment of the present disclosure are shown. The corresponding sensor arrangement includes an arrangement of one or more distance sensors, wherein the distance sensor includes a distance sensor (e.g., an ultrasonic sensor), a visual sensor, etc. A distance sensor is a sensor configured to capture distance data of a target, object, or environment, etc. A visual sensor is a sensor configured to capture visual data, such as image data or video data. Fig. 6AAs shown, four pairs of distance sensors (distance sensors 611 to 618) are respectively located at the front (distance sensors 611 and 612), the rear (distance sensors 613 and 614), the left side (distance sensors 615 and 616), and the right side (distance sensors 617 and 618) of the first body 202 of the UAV 102. In some embodiments, each pair of distance sensors is positioned and oriented to cover at least 90° of horizontal viewing angle toward the direction of the pair (for example, the front pair of distance sensors 611 and 612 covers at least 90° in the direction toward the front), so that omnidirectional obstacle avoidance is achieved. In some other embodiments, one or more pairs of distance sensors may cover a viewing angle less than 90°, but the aggregation of the viewing angles of all four pairs of distance sensors covers all horizontal angles, so that omnidirectional obstacle avoidance is achieved. In some embodiments, in addition to four pairs of distance sensors, more distance sensors may be used and may be placed at other locations of the UAV 102. For example, a pair of distance sensors may be placed at the top of the first body 202. As another example, a pair of distance sensors may be placed at the bottom edge of the second body 204. In some embodiments, the distance sensor can be placed individually rather than in pairs. For example, the distance sensor can be placed at the center of the front of the first body 202.

[0097] The embodiments of the present disclosure involving obstacle avoidance mechanisms and sensor arrangements are not necessarily limited in their application to the details of the construction and arrangement described herein with respect to the figures and / or examples and / or shown in the figures and / or examples. The disclosed embodiments can be varied in various ways, or can be practiced or implemented in various ways. In some embodiments, one or more distance sensors include a number of distance sensors different from a total of four pairs, and are not limited to being arranged in pairs. For example, the one or more distance sensors include a ToF sensor, a monocular sensor, a binocular sensor, an infrared sensor, an ultrasonic sensor, or a LIDAR sensor or a combination thereof located on some or all of the rear, front, left, right, and other locations of the UAV 102, such as the top of the first body 202 and the bottom edge of the second body 204.

[0098] Figure 6B Another exemplary obstacle avoidance mechanism and corresponding sensor arrangement according to an embodiment of the present disclosure is shown. Figure 6B6, two pairs of distance sensors (distance sensors 621-624) are located at the front (distance sensors 621 and 622) and the rear (distance sensors 623 and 624) of the first body 202 of the UAV 102, respectively. During flight, the carrier 230 can adjust the payload 235 to rotate relative to the UAV 102, thereby keeping the distance sensors associated with the payload 235 facing the target. In some embodiments, the payload 235 can rotate to cover an angle 630 of up to 180°. In some embodiments, the payload 235 includes a distance sensor associated with the payload 235. The distance sensor associated with the payload 235 can cover a wider viewing angle than the angle 630. For example, a distance sensor with a limited FOV of 60° can be associated with the payload 235 and cover the angle 630 with a viewing angle of 240°. The distance sensors associated with the payload 235 can utilize two pairs of distance sensors at the front and rear of the first body 202 of the UAV 102 to achieve omnidirectional (360°) obstacle avoidance or substantially 360° obstacle avoidance (e.g., 357°, 350°, 345°, etc.). The first body 202 can face the flight direction of the UAV 102. In some embodiments, the second body 204 can face the same direction as the first body 202. In some other embodiments, the controller 103 or the second body 204 can be controlled to adjust itself to face the same target as the payload 235. In some embodiments, in addition to the two pairs of distance sensors on the first body 202, more distance sensors can be used and can be placed at other locations of the first body 202. In some embodiments, the distance sensors can be placed individually instead of in pairs. For example, the distance sensor can be placed in the center of the front of the first body 202.

[0099] Figure 6C and 6D Another exemplary obstacle avoidance mechanism and corresponding sensor arrangement according to an embodiment of the present disclosure are shown. In some embodiments, the first body 202 may include at least two layers. Figure 6C and 6D, two pairs of distance sensors (distance sensors 651-654) are respectively located at the front (distance sensors 651 and 652) and the rear (distance sensors 653 and 654) of the first layer 410 of the first body 202 of the UAV 102. One or more propulsion devices 205 are located on one or more arms 206 coupled to the second layer 420 of the first body 202. In some embodiments, the first layer 410 of the first body 102 can be connected to the second layer 420 of the first body 202 via a steering mechanism, and the steering mechanism manipulates the first layer 410 of the first body 202 only relative to the second layer 420, so that the distance sensors 651-654 located at the first layer 410 of the first body 202 can be rotated relative to the one or more arms 206 coupled to the second layer 420 of the first body 202. In some embodiments, the first layer 410 can be at a higher position than the second layer 420 of the first body 202. The steering mechanism can rotate the first layer 410 of the first body 202 relative to the second layer 420 of the first body 202 of the UAV 102 so that the two pairs of distance sensors can achieve omnidirectional obstacle avoidance. The flight direction 661 is the direction in which the UAV 102 flies during flight. In some steering mechanisms, the rotation of the steering mechanism can rotate the first layer 410 to the left or right of the flight direction 661 through an angle range 660. In some embodiments, the angle 660 can be 90°.

[0100] In some embodiments, in addition to two pairs of distance sensors, more distance sensors can be used and can be placed in other locations of the first body 202. In some embodiments, the distance sensors can be placed individually instead of in pairs. For example, the distance sensor can be placed in the center of the front of the first body 202.

[0101] Fig. 7A and 7B 2 shows an exemplary power storage system arrangement according to an embodiment of the present disclosure. In some embodiments, the power storage system 220 may be placed only on the second body 204 of the UAV 102, such as Fig. 7A An exemplary power storage system arrangement is shown in FIG. Figure 7B In the embodiment of the present invention, when the first body 202 is connected to the second body 204, the power storage system 220 can power the first body 202 and the components of the first body 202. This power storage system arrangement has benefits for the second body 204, such as longer battery life, and enables the second body 204 to be ready for use without requiring additional time to install the power storage system. However, this arrangement may result in an increase in the size and weight of the power storage system 202 and the second body 204.

[0102] In some embodiments, the UAV 102 may include at least two power storage systems 220. Figure 8An exemplary power storage system arrangement including at least two power storage systems according to an embodiment of the present disclosure is shown. Figure 8 In the embodiment, the first body 202 includes a first power storage system 221, and the second body 204 includes a second power storage system 222. The first power storage system 221 may be the same as or different from the second power storage system 222. In some embodiments, the first power storage system 221 is capable of independently supplying power to the first body 202, and the second power storage system 222 is capable of independently supplying power to the second body 204. The first power storage system 221 and the second power storage system 222 may be respectively Fig. 7A and 7B The power storage system 220 shown is small and light because there is only one power storage system 220 to power the first body 202 and the second body 204. Figure 8 The second body 204 and Fig. 7A and 7B The second body 204 in the embodiment may also be smaller and lighter than the second body 204 in the embodiment.

[0103] In some embodiments, the second power storage system 222 can be removed from the second body 204 based on different operating conditions. Figure 8 As shown, the second power storage system 222 is coupled to the second body 204 and supplies power to the second body 204 when the second body 204 operates solely as a ground unit. Figure 8 In the embodiment of the present invention, when the second body 204 without the second power storage system 222 is connected to the first body 202, the second power storage system 222 can be detached from the second body 204. In some embodiments, the second body 204 without the second power storage system 222 can be a stabilizer portion 810 of the second body 204, as described more fully below. When the second body 204 without the second power storage system 222 is operated while being connected to the first body 202, the first power storage system 221 supplies power to the second body 204. This can improve the efficiency of using the first power storage system 221 because the UAV 102 is not limited by the weight of the second power storage system 222 when the first body 202 and the second body 204 are operated together.

[0104] In some embodiments, the second power storage system 222 may not be detachable from the second body 204 (except in special circumstances such as repair and maintenance). In such an embodiment, the power storage system 220 may be attached to the second body 204 as an internal power storage system. For example, when the second body 204 is connected to the first body 202 and the UAV 102 is running, the second power storage system 222 is also carried by the UAV 102, even if the second power storage system 222 may or may not power the first body 202. The second power storage system 222 may be the only power source for powering the second body 204. This enables the UAV 102 and the second body 204 to be used quickly without requiring additional time to install the power storage system 222. However, since the second power storage system 222 is also carried, this may increase the carrying burden of the first body 202 when connected to the second body 204. In some embodiments, the second power storage system 222 may not be detachable from the second body 204 even when the second power storage system 222 is charging. However, in some embodiments, the second power storage system 222 can be removed from the second body 204 when the second power storage system 222 is charging, but still cannot be removed from the second body 204 when the second body 204 is operating.

[0105] In some embodiments, the power storage system 220 may include a combination of subsidiary power storage systems under a unified power management system. Each subsidiary power storage system under the unified power management system may independently power one or more components of the UAV 102 (e.g., imaging sensors, first body 202, second body 204, etc.). In some embodiments, each subsidiary power storage system under the unified power management system may be capable of powering one or more of the same components as some other such subsidiary power storage systems.

[0106] In some embodiments, the power storage system 220 may include a combination of a first power storage system 221 and a second power storage system 222 under a unified power management system. The first power storage system 221 may be the same as or different from the second power storage system 222. For example, the first power storage system 221 may be a two-cell (2S) battery, and the second power storage system 222 may be a one-cell (1S) battery. As another example, the first power storage system 221 may be a LiPo three-cell (LiPo 3S) battery, and the second power storage system 222 may be a LiPo six-cell (LiPo 6S) battery. Although exemplary use of 1S, 2S, 3S, and 6S batteries has been described, embodiments may also be implemented with other battery types. In some embodiments, the unified power management system manages power supply relationships between storage devices, as well as power management data such as remaining battery life. For example, when the first body 202 is connected to the second body 204, the first power storage system 221 may power the UAV 102 together with the second power storage system 222. In some other embodiments, the unified power management system only manages power management data related to the power storage system 220. Alternatively, the first power storage system 221 may power only the first body 202, and the second power storage system 222 may power only the second body 204. For example, when the first body 202 is connected to the second body 204, the first power storage system 221 powers only the first body 202, and the second power storage system 222 powers only the second body 204. Power management data of the first power storage system 221 and the second power storage system 222, such as their remaining battery life and a signal of whether there is an abnormal condition, are communicated with the unified power management system.

[0107] like Figure 8 As shown, in some embodiments, the second body 204 can include a stabilizing portion 810 and a handheld portion 820. The stabilizing portion 810 and the handheld portion 820 can be detachable from each other. In some embodiments, at least one of the stabilizing portion 810 and the handheld portion 820 can be capable of operating without the other. For example, the stabilizing portion 810 can be used as a stabilizer for a device other than the first body 202 or the UAV 102. In other examples, the handheld portion 820 can be used as a handheld handle for another device, such as the mobile device 140.

[0108] In some embodiments, the stabilizing portion 810 can be connected to the first body 202. The stabilizing portion 810 can be configured to carry a load 235 associated with one or more visual sensors, so that the first body 202 can operate as a drone with one or more visual sensors to perform video shooting tasks. The stabilizing portion 810 can include a carrier sensor that provides status information about the first body 202. In some embodiments, the handheld portion 820 includes a second power storage system 222, so that the stabilizing portion 810 and its components can rely on the first power storage system 221 when the handheld portion 820 is not connected to the first body 202. In some embodiments, the stabilizing portion 810 and the handheld portion 820 can each include a portion of the power storage system 222, so that when the stabilizing portion 810 is detached from the handheld portion 820, the portion can power the stabilizing portion 810 or its components.

[0109] In some embodiments, the handheld portion 820 includes a second power storage system 222 and an image transmission system. The handheld portion 820 can power other parts or components of the second body 204, for example, when the handheld portion 820 is not detached from the stable portion 810. The image transmission system can process and transmit signals from one or more visual sensors associated with the load 235 of the stable portion 810. When the handheld portion 820 is connected to the stable portion 810, the transmission of signals can be based on the principle of real-time.

[0110] In some embodiments, the handheld portion 820 may include components and systems of the second body 204, so that the handheld portion 820 can perform the functions of the second body 204 or be used as the second body when detached from the stable portion 810. For example, the handheld portion 820 may still be able to perform the remote control functions of the second body 204 when detached from the stable portion 810.

[0111] In some embodiments, the handheld portion 820 can independently perform functions that the second body 204 may or may not be able to perform when the handheld portion 820 is connected to the stable portion 810. For example, the handheld portion 820 can perform the remote control function 810 when it is detached from the stable portion. It may be easier for the user to hold the handheld portion 820 with one hand than to hold the second body 204 including the handheld portion 820 and the stable portion 810, so it is preferred to use the handheld portion 820 held in one hand instead of the entire second body 204 as a remote control. In addition, the handheld portion 820 can be configured to facilitate the connection combination of holding the handheld portion 820 and the mobile device 140 in one hand. The handheld portion 820 can perform signal transmission and reception functions with other components of the system 100. For example, when the user holds the handheld portion 820, the handheld portion 820 can assist the subsystems and components of the system 100 in recognizing the user or input from the user.

[0112] In some embodiments, the user can connect the handheld portion 820 with the mobile device 140 to enable additional functionality. For example, the user can connect the handheld portion 820 and a mobile phone and use the mobile phone to perform remote control functions and process signals from the UAV 102. The image transmission system and associated hardware components of the handheld portion 820 can enable or enhance signal transmission, reception, and processing by the user through the use of the mobile device 140 connected to the handheld portion 820. The power storage system 222 on the handheld portion 820 can provide additional power to the mobile device 140 when connected. In some embodiments, the mobile device 140 can in turn power the handheld portion 820 when connected.

[0113] Fig. 9 Several exemplary processor configurations 900 according to embodiments of the present disclosure are illustrated. In some embodiments, at least one processor of the UAV 102 may be disposed only in the second body 204, as shown in the processor configuration 910. All data collected by the first body 202 may be processed by at least one processor in the second body 204. In some embodiments, the data exchange between the first body 202 and the second body 204 may be only through a data interface, which is a physical interface. This can save the cost of placing a processor and related hardware such as a memory in the first body 202. However, this may cause additional complexity in the physical interface between the first body 202 and the second body 204, thereby increasing the design burden and potentially gradually destroying the stability of the physical interface. In some embodiments, the data exchange between the first body 202 and the second body 204 may be both through (one or more) wireless links and physical interfaces.

[0114] In some embodiments, at least one processor in the second body 204 may be a first-tier processor (processor configuration 910). This may be necessary for the UAV 102 to implement tasks that require high processing power and computing power, such as complex real-time visual processing tasks.

[0115] In some embodiments, the first body 202 and the second body 204 may each have at least one processor. For example, as shown in each of the processor configurations 920 and 930, at least one processor in the first body 202 may be a first processor 901, and at least one processor in the second body 204 may be a second processor 902.

[0116] In some embodiments, processor 901 may be a second layer processor and processor 902 may be a first layer processor (processor configuration 920). For example, second layer processor 901 may be an ARM M7 processor that is capable of handling certain flight control functions of first body 102. However, processor 901 may not handle certain complex tasks, such as real-time vision processing, and may not be capable of large-scale data storage. First layer processor 902 may handle more complex vision processing tasks based on range data transmitted from first body 202. Instead of having a first layer processor, a second layer processor, such as an ARM M7 processor, in first body 202 may save the cost of constructing UAV 102, and may also benefit design and operation from an energy efficiency perspective.

[0117] In some embodiments, similar to the processor configuration 910, in the processor configuration 920, there may be certain complex tasks that need to be mastered by the first layer processor 902 in the second body 204, and the data exchange between the first body 202 and the second body 204 may be only through the physical data interface. Such a processor configuration may cause additional complexity in the physical interface between the first body 202 and the second body 204, thereby increasing the design burden and potentially gradually undermining the stability of the physical interface. In some other embodiments, the data exchange between the first body 202 and the second body 204 may be through (one or more) wireless links and physical interfaces.

[0118] In some embodiments, processor 901 and processor 902 may each be a first-tier processor, as shown in processor configuration 930. For example, processor 901 and processor 902 may each include at least one of a DSP or a GPU, and at least one of a CNN-based ACC, a vision-based ACC or an ISP, or the like, or a combination thereof. Therefore, processor 901 and processor 902 may each perform a full range of tasks as required by first body 202 and second body 204. This processor configuration may reduce the burden of data exchange between processor 901 and processor 902, so that the data interface between processor 901 and processor 902 may be less complex and more stable.

[0119] In some embodiments, the processor 901 is configured to process flight control data for flight control, and the processor 902 is configured to process image data. The processor 901 may be further configured to process data of the surrounding environment. In some embodiments, the payload 235 of the second body 204 communicates with the processor 902 via a first communication link and a second communication link. For example, the payload 235 may transmit data for flight control via the first communication link, so that the system 100 implements intelligent flight control of the UAV 102 by analyzing the sensor data communicated via the first communication link. As another example, the payload 235 may transmit sensor data to a user of the UAV 102 or a ground unit of the system 100 via the second communication link.

[0120] In some embodiments, processor 901 has weaker data processing capabilities than processor 902. For example, processor 901 is a second-layer processor, and processor 902 is a first-layer processor. As another example, processor 901 has a lower operating frequency than processor 902. Processor 901 is configured to process flight control data for flight control, and processor 902 is configured to process image data and data of the surrounding environment captured by sensing system 101. For example, first body 202 may include at least one distance sensor, which is configured to transmit sensor data captured by it to processor 902 via a first communication link. Processor 902 is configured to process sensor data received from at least one distance sensor to generate processed sensor data. Processor 902 is also configured to transmit processed sensor data to processor 901 via a second communication link.

[0121] Figures 10A-10C An exemplary storage container configuration of a UAV according to an embodiment of the present disclosure is shown. Fig. 10A 102. The storage container 1010 may also provide a different one or more locations, such as one or more accessory storage locations 1015, to place certain components and equipment of or associated with the UAV 102. For example, the storage container 1010 may include one or more receptacles to place the power storage system 220. As another example, the storage container 1010 may provide a user with a specific accessory storage location 1015 to store one or more ND lens filters so that the one or more ND lens filters can be better protected and less likely to be lost. In some embodiments, the UAV 102 may be stored when the first body 202 and the second body 204 are disassembled.

[0122] exist Fig. 10AIn accordance with some embodiments of the present disclosure, the storage container 1010 may include one or more locations for storing off-board devices such as the remote controller 130. In some embodiments, the storage container 1010 may include one or more receptacles to place devices or components of the system 100 that receive user input without removing the devices or components from the storage container 1010. For example, this may enable a user to directly use a remote controller 130 stored in a receptacle of the storage container 1010 to send user input to an operating UAV 102 outside the storage container 1010. As another example, a user may store a second body 204 in such a receptacle and use the touch screen 252 of the second body to send user commands to an operating first body 202 in the air.

[0123] exist Fig. 10B In the embodiment, the storage container 1010 includes two housings to simultaneously receive two power storage systems 220. In some embodiments, the number of housings and the number of power storage systems 220 that are backups to the power storage system 220 of the UAV 102 may vary depending on various factors considered in the product design of the UAV 102, such as portability, battery life requirements, and whether the UAV 102 is designated for professional, prosumer, or consumer use. In some embodiments, housings may also be dedicated to different auxiliary power storage systems of the power storage system 220.

[0124] In some embodiments, the power storage system 220 can charge other devices through the storage container 1010. For example, a user can use the USB-A type port 1030 on the side of the storage container 1010, such as Fig. 10B This can maximize the use of energy stored in the power storage system 220, because when the remaining power is below a certain level, the power storage system 220 may not be suitable for powering the UAV 102 for another safe flight until it is recharged. This is also consistent with the portability of the UAV 102 to reduce the burden of bringing other power sources for other equipment or worrying about recharging.

[0125] In some embodiments, a user may charge the power storage system 220 using the storage container 1010. For example, a user may use each of the two receiving portions to place the power storage system 220 in order to charge the power storage system 220. In such an embodiment, the storage container 1010 includes one or more charging circuits for charging components including the power storage system 220. The two receiving portions for the two power storage systems 220 include a power connector. When the power storage system 220 is stored in the two receiving portions, the power connector and the one or more charging circuits connect the power storage system 220 to the power supply of the storage container 1010, so that the power supply can charge the power storage system 220. In some other embodiments, a user may charge the storage container 1010 using the power storage system 220.

[0126] As another example, a user may use one or more external power connectors, such as a PD (power delivery) charger port 1035 on the side of the storage container 1010, to charge the power storage system(s) 220, such as Fig. 10B As shown. The PD charger port 1035 is connected to one or more charging circuits for charging external devices or components including the power storage system 220. The power provided by the PD charger port 1035 can be used directly to charge the power storage system 220, or can be collected and / or stored by an intermediate power storage system of the storage container 1010. The PD charger port 1035 can also be managed by an intelligent power storage management system that monitors the condition of the power storage system 220 and controls the charging of the power storage system 220. In some embodiments, the intelligent power storage management system may be the same as, associated with, a sub-part or a parent system of the unified power management system, and the intelligent power management system manages the affiliated power storage systems of the power storage system 220, as described above with reference to Figure 8 As described.

[0127] exist Fig. 10CIn some embodiments, when the UAV 102 is stored in the storage container 1010, the UAV 102 can exchange data with the storage container 1010. Once the UAV 102 and the storage container 1010 are connected via a data interface, the data exchange between the UAV 102 and the storage container 1010 can be automatic. In some embodiments, the storage container 1010 includes a memory storage medium 1050 to receive and store data received from the UAV 102, such as range data. The memory storage medium 1050 can be an SSD drive, an SD card (Secure Digital Card), a TF card (T-Flash Card), an internal memory storage medium such as a hard disk drive, or other suitable memory storage medium. In some embodiments, when the first body 202 or the second body 204 associated with at least one processor is stored in the storage container 1010, at least one processor of the UAV 102 automatically uploads the data captured by one or more sensors of the UAV 102 to the memory storage medium 1050.

[0128] In some embodiments, the storage container 1010 includes a wireless communication device capable of communicating with one or more devices external to the storage container 1010, such as the UAV 102, the server 110, the mobile device 140, etc. The wireless communication device is configured to exchange data stored in the storage medium 1050 of the storage container 1010 with the device external to the storage container. The wireless communication device can support any suitable wireless communication technology, such as radio frequency identification (RFID), Bluetooth communication, Wi-Fi, radio communication, cellular communication, ZigBee, infrared (IR) wireless, microwave communication, etc.

[0129] In addition, the storage container 1010 may include a WiFi system-on-chip (SoC) that enables the storage container 1010 to provide a wireless link as a hotspot. The storage container 1010 may exchange data stored in the memory storage medium 1050 with other devices via a wireless link and / or a physical interface. For example, the storage container 1010 may exchange range data from the UAV 102 with the mobile device 140. In some embodiments, the storage container 1010 may exchange data from the UAV 102 with other users.

[0130] It should be understood that the disclosed embodiments are not necessarily limited in their application to the details of construction and arrangement of components set forth in the following description and / or illustrated in the drawings and / or examples. The disclosed embodiments can be varied in various ways or can be practiced or carried out in various ways.

[0131] It will be apparent to those skilled in the art that various modifications and variations may be made to the disclosed devices and systems. Other embodiments will be apparent to those skilled in the art by consideration of the specification and practice of the disclosed devices and systems. The specification and examples should be considered exemplary only, with the true scope being indicated by the appended claims and their equivalents.

Claims

1. A system comprising: A first body capable of flight; a second body detachably attached to the first body and capable of serving as a handheld stabilizer; At least one processor is further configured to control the first body to fly according to a received user command in response to the user command, wherein the user command includes specifying that the first body takes off in a paper airplane mode, wherein in the paper airplane mode, the first body can be launched by throwing.

2. The system according to claim 1, wherein: The user command also includes one or more tasks, and the first body can automatically execute the one or more tasks after being launched by throwing.

3. The system of claim 1, further comprising one or more sensors; The processor is further configured to: determining, based on data received from the one or more sensors, that the first body is being thrown or has been thrown; determining an initial direction of the throw based on data received from the one or more sensors; as well as The first body is controlled to self-regulate based on the initial orientation and the data received from the one or more sensors.

4. The system according to claim 3, wherein the user command comprises one or more parameters, wherein the one or more parameters further comprise a predetermined target, and the processor is further configured to: determining a new direction different from the initial direction based on positioning data received from the one or more sensors associated with the predetermined target and the first subject; in, Controlling the first body to perform self-adjustment also includes adjusting the moving direction toward the predetermined target.

5. The system according to claim 1, wherein: The user command includes one or more parameters and / or one or more tasks; the processor is further configured to: Controlling the first subject to self-regulate based on the one or more parameters and / or the one or more tasks; and / or The first body is controlled to self-adjust based on the relative position between the first body and the user.

6. A system comprising: A first body capable of flight; a second body detachably attached to the first body and capable of serving as a handheld stabilizer; one or more sensors; At least one processor is configured to receive sensor data from the one or more sensors and to control at least the first body to fly in an obstacle avoidance flight mode based on the sensor data.

7. The system according to claim 6, wherein: The one or more sensors also include: one or more first distance sensors located on the front of the first body; one or more second distance sensors located at the rear of the first body; one or more third distance sensors located on the left side of the first body; and one or more fourth distance sensors located on the right side of the first body; The first distance sensor, the second distance sensor, the third distance sensor and the fourth distance sensor together cover a substantially 360° horizontal viewing angle.

8. The system according to claim 6, wherein: The second body includes a carrier configured to accommodate a load removably connected to the second body, the load further including an imaging sensor; The one or more sensors further include: 1) one or more first distance sensors at a front portion of the first body and 2) one or more second distance sensors at a rear portion of the first body; Wherein, when the first body is configured to operate in the obstacle avoidance flight mode, the carrier adjusts the rotation of the payload to keep the imaging sensor associated with the payload facing the target; and the imaging sensor, one or more of the first distance sensors and one or more of the second distance sensors operate to achieve obstacle avoidance.

9. The system according to claim 6, wherein: The first body comprises a first layer and a second layer, the first layer being connected to the second layer via a steering mechanism; The one or more sensors further include: 1) one or more first distance sensors located at a front portion of the first layer of the first body and 2) one or more second distance sensors located at a rear portion of the first layer of the first body; Wherein, when the first body is configured to operate in the obstacle avoidance flight mode, the steering mechanism rotates the first layer relative to the second layer; and one or more first distance sensors and one or more second distance sensors operate to achieve obstacle avoidance based on the rotation of the first layer relative to the second layer.

10. A system comprising: A first body capable of flight; a second body detachably attached to the first body and capable of serving as a handheld stabilizer; as well as An electricity storage system capable of supplying power to the first body and / or the second body.

11. The system according to claim 10, wherein: The power storage system comprises: a battery assembly associated with the second body, the battery assembly being capable of powering the first body and the second body when the second body is removably attached to the first body; or A first battery assembly is associated with the first body and a second battery assembly is associated with the second body.

12. The system of claim 11, wherein: the second battery assembly being capable of supplying power to the second body when removably attached to the second body; the second battery assembly being releasably attached to the second body; as well as The first battery assembly is capable of supplying power to the first body and the second body when the second body is attached to the first body.

13. The system according to claim 11, wherein: The second battery assembly is non-releasably attached to the second body.

14. The system according to claim 11, wherein: The first battery assembly and the second battery assembly are a combination of power storage systems managed by a unified power storage management system, and the first battery assembly and the second battery assembly exchange data under the control of the unified power storage management system; Wherein, when the second body is attached to the first body, the first battery assembly and the second battery assembly are each capable of supplying power to both the first body and the second body.

15. The system of claim 10, further comprising a storage container capable of storing the first body and the second body, the storage container comprising: power supply; a housing for storing the power storage system, the housing comprising a power connector configured to connect the power storage system to the power source when the power storage system is stored in the housing; an internal charging circuit configured to charge the power storage system; as well as An external power connector is configured to charge the external device when the external device is connected to the external power connector.

16. A system comprising: A first body capable of flight; a second body detachably attached to the first body and capable of serving as a handheld stabilizer; The second body includes a user interface, and the user interface includes a display screen configured to display information related to the system.

17. The system of claim 16, wherein the display screen is a touch screen capable of receiving user commands.

18. The system of claim 16, wherein: The second body includes a remote controller of the first body when the second body is detached from the first body; and / or, When the second body is detached from the first body, the first body includes an unmanned aerial vehicle.

19. The system of claim 16, further comprising at least one processor, wherein the processor is configured to: receiving a user command from the user interface to fly; In response to receiving the user command, controlling the first body to perform the flight according to the user command; in, The user command includes at least one of a flight mode, one or more predetermined flight trajectories, a predetermined target, and one or more end conditions of the flight; The end condition includes a predetermined end condition, and the predetermined end condition includes a default end condition for completing the predetermined flight trajectory.

20. The system of claim 19, wherein the processor is further configured to have at least one of the following situations: Scenario 1: controlling the first subject to fly at least one of the one or more trajectories by following the target at a certain distance, wherein the distance is determined based on the user command; Scenario 2: the predetermined target is an operator, and the processor is further configured to: recognize a body posture of the operator; and determine one or more user commands based on the recognized body posture; Scenario 3: In response to receiving a user's instruction to fly, performing a self-check operation and an environmental check operation; and determining that a take-off condition is satisfied based on the flight mode, the self-check operation and the environmental check operation; wherein, The self-check operation includes checking multiple self-conditions of the system that may affect flight, including the remaining energy level and the conditions of the subsystems and components of the system; the environmental check operation includes checking at least one environmental condition of the surrounding environment that may affect flight.

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